Virtual lane line generation method and device, mobile terminal and storage medium

Abstract

The invention provides a virtual lane line generation method and device, a mobile terminal and a storage medium, and relates to the technical field of high-precision maps. The method comprises the following steps: determining a first end point for entering a lane line and a second end point for exiting the lane line; generating a first extension line in the direction of entering the lane line by taking the first end point as a starting point; generating a second extension line along the reverse direction of the exit lane line by taking the second end point as a starting point; determining a passing mode of a virtual lane corresponding to the entry lane line and the exit lane line according to the first extension line and the second extension line; and based on the passing mode, generating a lane line of the virtual lane according to the first end point and the second end point. According to the method, the generation efficiency and quality of the virtual lane line are improved, the method can adapt to complex intersection scenes such as multi-way intersections and expressway entrances and exits, accurate road network information support is provided for intelligent driving vehicles, and the reliability and safety of an intelligent driving system in different scenes are enhanced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of high-precision maps, and particularly to a method, an apparatus, a mobile terminal, and a storage medium for generating virtual lane lines. Background Art

[0002] A high-definition map (HD Map) is a thematic vector map that can accurately provide high-precision road network information. It can serve the field of intelligent driving and is also called a highly automated driving map (HAD Map). The high-precision map expresses traffic models and rules through three-dimensional curves such as roads, lanes, and lane lines. Its production methods in section areas and intersection areas are different. The section areas are made according to ground markings, while in the intersection areas, due to the lack of ground markings, virtual lane lines need to be made.

[0003] In related technologies, virtual lane lines in intersection areas can be generated by manual drawing, but this method has low efficiency, and the generated lane geometries are rigid, prone to problems such as curvature jumps and large turning angles. An automated solution can also be adopted, but the current automated solution has relatively simple rules and can only handle conventional intersections, and it is difficult to effectively handle complex intersections such as multi-fork intersections and highway entrances and exits. Summary of the Invention

[0004] The purpose of the present disclosure is to provide a method, an apparatus, a mobile terminal, and a storage medium for generating virtual lane lines.

[0005] According to the first aspect of the embodiments of the present disclosure, a method for generating virtual lane lines is provided. The method includes: determining a first endpoint of an entering lane line and a second endpoint of an exiting lane line; generating a first extension line with the first endpoint as a starting point along the direction of the entering lane line; generating a second extension line with the second endpoint as a starting point along the reverse direction of the exiting lane line; determining a passing mode of a virtual lane corresponding to the entering lane line and the exiting lane line according to the first extension line and the second extension line; and generating a lane line of the virtual lane based on the passing mode according to the first endpoint and the second endpoint.

[0006] In some embodiments of the present disclosure, determining the traffic pattern of the virtual lane corresponding to the entry lane line and the exit lane line according to the first extension line and the second extension line includes: determining a direction deviation angle according to the first extension line and the second extension line; the direction deviation angle is used to quantify the deviation degree between the entry lane direction and the exit lane direction; connecting the first endpoint and the second endpoint to obtain a first connection line; determining a traffic turning angle according to the first connection line and the first extension line; the traffic turning angle is used to represent the turning direction from the entry lane to the exit lane; determining the traffic pattern according to the direction deviation angle and the traffic turning angle.

[0007] In some embodiments of the present disclosure, determining the traffic pattern according to the direction deviation angle and the traffic turning angle includes: in response to the direction deviation angle being less than a first preset angle, determining that the traffic pattern is a straight-ahead pattern; in response to the direction deviation angle being greater than a second preset angle and the traffic turning angle being greater than 0 degrees, determining that the traffic pattern is a left U-turn pattern; the first preset angle is less than the second preset angle; in response to the direction deviation angle being greater than the second preset angle and the traffic turning angle being less than 0 degrees, determining that the traffic pattern is a right U-turn pattern; in response to the direction deviation angle being between the first preset angle and the second preset angle and the traffic turning angle being greater than 0 degrees, determining that the traffic pattern is a left turn pattern; in response to the direction deviation angle being between the first preset angle and the second preset angle and the traffic turning angle being less than 0 degrees, determining that the traffic pattern is a right turn pattern.

[0008] In some embodiments of the present disclosure, determining the direction deviation angle according to the first extension line and the second extension line includes: calculating a first included angle between the first extension line and the second extension line; determining the supplementary angle of the first included angle as the direction deviation angle.

[0009] In some embodiments of the present disclosure, determining the traffic turning angle according to the first connection line and the first extension line includes: determining a rotation angle of the first connection line relative to the first extension line; wherein, the rotation angle is used to rotate the first connection line to be in the same direction as the first extension line; determining the rotation angle as the traffic turning angle.

[0010] In some embodiments of the present disclosure, generating the lane line of the virtual lane based on the traffic pattern and according to the first endpoint and the second endpoint includes: taking the first endpoint as a starting point, extending along the first extension line by a preset extension distance to obtain a first control point; taking the second endpoint as a starting point, extending along the second extension line by the preset extension distance to obtain a second control point; determining a third control point based on the traffic pattern; and generating the lane line of the virtual lane according to the first endpoint, the first control point, the third control point, the second control point, and the second endpoint.

[0011] In some embodiments of the present disclosure, determining a third control point based on the traffic pattern includes: in response to the traffic pattern being a straight-ahead pattern, determining the midpoint between the first endpoint and the second endpoint as the third control point; in response to the traffic pattern being a U-turn pattern, respectively rotating the first extension line and the second extension line to obtain a rotated first extension line and a rotated second extension line, and determining the first intersection point of the rotated first extension line and the rotated second extension line as the third control point; in response to the traffic pattern being a turning pattern, determining the second intersection point of the first extension line and the second extension line, and determining the third control point according to the second intersection point and the midpoint.

[0012] In some embodiments of the present disclosure, in response to the traffic pattern being a U-turn pattern, respectively rotating the first extension line and the second extension line to obtain a rotated first extension line and a rotated second extension line includes: in response to the traffic pattern being a left U-turn pattern, rotating the first extension line counterclockwise around the first control point by a preset angle to obtain the rotated first extension line; rotating the second extension line clockwise around the second control point by the preset angle to obtain the rotated second extension line; in response to the traffic pattern being a right U-turn pattern, rotating the first extension line clockwise around the first control point by a preset angle to obtain the rotated first extension line; rotating the second extension line counterclockwise around the second control point by the preset angle to obtain the rotated second extension line.

[0013] In some embodiments of the present disclosure, determining the third control point according to the second intersection point and the midpoint includes: determining a sliding parameter value; wherein, setting the sliding parameter value according to the first included angle between the first extension line and the second extension line; connecting the second intersection point and the midpoint to obtain a second connection line; and starting from the midpoint, sliding along the second connection line by the sliding parameter value to obtain the third control point.

[0014] In some embodiments of the present disclosure, the method further includes: determining a distance of a first connection line between a first end point of the entry lane line and a second end point of the exit lane line; in response to the distance of the first connection line being less than a preset distance threshold, determining the preset extension distance according to the distance of the first connection line; in response to the distance of the first connection line being greater than or equal to the preset distance threshold, determining the preset extension distance according to an initial value.

[0015] In some embodiments of the present disclosure, generating the lane line of the virtual lane according to the first end point, the first control point, the third control point, the second control point, and the second end point includes: generating an initial trajectory line according to the first end point, the first control point, the third control point, the second control point, and the second end point; performing interpolation sampling processing on the initial trajectory line to obtain a plurality of sampling points; generating the lane line of the virtual lane according to the plurality of sampling points.

[0016] According to a second aspect of the embodiments of the present disclosure, there is provided a virtual lane line generation device, the device includes: an end point determination module configured to determine a first end point of an entry lane line and a second end point of an exit lane line; an extension line generation module configured to generate a first extension line starting from the first end point along the direction of the entry lane line; generate a second extension line starting from the second end point along the opposite direction of the exit lane line; a mode determination module configured to determine a passing mode of the virtual lane corresponding to the entry lane line and the exit lane line according to the first extension line and the second extension line; a lane line generation module configured to generate the lane line of the virtual lane based on the passing mode according to the first end point and the second end point.

[0017] According to a third aspect of the embodiments of the present disclosure, there is provided a mobile terminal, the mobile terminal includes: a processor; a memory for storing processor-executable instructions; wherein, the processor is configured to implement the above-mentioned virtual lane line generation method; a display device configured to display the lane line of the virtual lane generated by the processor.

[0018] According to a fourth aspect of the embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of a mobile terminal, enabling the mobile terminal to execute the above-mentioned virtual lane line generation method.

[0019] According to a fifth aspect of the embodiments of the present disclosure, there is provided a computer program product, including a computer program, the computer program when executed by a processor implements the above-mentioned virtual lane line generation method.

[0020] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects: Obtain the entry lane line and exit lane line of the intersection, and determine the first endpoint of the entry lane line and the second endpoint of the exit lane line; then, use the first endpoint as the starting point and extend along the direction of the entry lane line to obtain the first extension line, and use the second endpoint as the starting point and extend in the opposite direction of the exit lane line to obtain the second extension line. These two extension lines can describe the direction trends of the entry lane and the exit lane inside the intersection. Based on this, use these two extension lines to determine the traffic pattern of the virtual lane corresponding to the entry lane line and the exit lane line; finally, generate a smooth and traffic-rule-compliant virtual lane line based on the determined traffic pattern and the first and second endpoints. This method improves the generation efficiency and quality of the virtual lane line, reduces manual intervention, and avoids situations such as rigid lane geometries, curvature jumps, and unreasonable turning angles caused by manual drawing. It can adapt to complex intersection scenarios such as multi-way intersections and highway entrances and exits, can provide accurate road network information support for intelligent driving vehicles, and enhances the reliability and safety of the intelligent driving system in different scenarios.

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

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

[0023] Figure 1 is a flowchart of a method for generating a virtual lane line according to some embodiments of the present disclosure.

[0024] Figure 2 is a schematic diagram of an application scenario of the method for generating a virtual lane line according to an embodiment of the present disclosure.

[0025] Figure 3 is a flowchart of a method for determining the traffic pattern of the virtual lane corresponding to the entry lane line and the exit lane line according to some embodiments of the present disclosure.

[0026] Figure 4 is a flowchart of a method for generating the lane line of the virtual lane according to the first endpoint and the second endpoint based on the traffic pattern according to some embodiments of the present disclosure.

[0027] Figure 5 is a schematic diagram of the third control point in the straight-ahead mode according to some embodiments of the present disclosure.

[0028] Figure 6 is a schematic diagram of the third control point in the left U-turn mode according to some embodiments of the present disclosure.

[0029] Figure 7 It is an example diagram of the lane lines in the intersection area generated by the method for generating virtual lane lines according to an embodiment of the present disclosure.

[0030] Figure 8 It is a block diagram of a device for generating virtual lane lines shown according to some embodiments of the present disclosure.

[0031] Figure 9 It is a block diagram of a mobile terminal shown according to some embodiments of the present disclosure. Detailed implementation manners

[0032] Here, some exemplary embodiments of the present disclosure will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. Various changes, modifications, and equivalents of the methods, devices, and / or systems described herein will become apparent after understanding the present disclosure. For example, the order of operations described herein is merely an example and is not limited to those 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 conciseness.

[0033] The embodiments described in the following exemplary embodiments of the present disclosure do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0034] It should be noted that the acquisition, storage, use, processing, etc. of data in the technical solution of the present disclosure all comply with the relevant provisions of national laws and regulations. For various types of data such as personal identity data, operation data, and behavior data related to individuals, customers, and populations obtained in the embodiments of the present disclosure, authorization has been obtained.

[0035] Figure 1 It is a flowchart of a method for generating virtual lane lines shown according to some embodiments of the present disclosure. Referring to Figure 1 , the method for generating virtual lane lines may include the following steps.

[0036] In step S110, a first endpoint of the entry lane line and a second endpoint of the exit lane line are determined.

[0037] In the embodiments of the present disclosure, the entry lane line refers to the lane line along which one enters the intersection, the exit lane line refers to the lane line along which one leaves the intersection, and the intersection refers to the intersection where virtual lane lines need to be generated.

[0038] Exemplarily, based on the topological relationships of roads in a pre-made high-precision map, the entry lane lines and exit lane lines of an intersection can be obtained. Among them, the topological relationships record the connectivity relationships between roads and between roads and intersections, and this connectivity relationship is consistent with the connectivity relationships between roads and between roads and intersections in the real world. Along the lanes indicated by the entry lane lines, one can drive into the intersection; along the lanes indicated by the exit lane lines, one can drive out of the intersection. When making a high-precision map, the entry lane lines and exit lane lines will be marked.

[0039] In the embodiments of the present disclosure, the first endpoint of the entry lane line refers to the end point of the entry lane line, that is, the intersection point of the entry lane line and the intersection, which is used to indicate the starting position of entering the intersection along the entry lane line. The second endpoint of the exit lane line refers to the end point of the exit lane line, that is, the intersection point of the exit lane line and the intersection, which is used to indicate the starting position of leaving the intersection along the exit lane line.

[0040] Figure 2 is a schematic diagram of an application scenario of the method for generating virtual lane lines according to the embodiments of the present disclosure. As Figure 2 shown, D1 represents the first endpoint of the entry lane line, and S1 represents the second endpoint of the exit lane line.

[0041] In step S120, taking the first endpoint as the starting point, a first extension line is generated along the direction of the entry lane line; taking the second endpoint as the starting point, a second extension line is generated along the opposite direction of the exit lane line.

[0042] In the embodiments of the present disclosure, taking the first endpoint of the entry lane line as the starting point, an extension line is generated along the direction of the entry lane line, that is, the first extension line, and this line describes the extension trend of the direction of the entry lane line inside the intersection.

[0043] In the embodiments of the present disclosure, taking the second endpoint of the exit lane line as the starting point, an extension line is generated along the opposite direction of the exit lane line, that is, the second extension line, and this line describes the extension trend of the direction of the exit lane line inside the intersection.

[0044] Taking Figure 2 the application scenario shown as an example for further illustration, taking D1 as the starting point, extending along the direction of the entry lane line to generate the first extension line RayD1, and taking S1 as the starting point, extending along the opposite direction of the exit lane line to generate the second extension line RayS1.

[0045] In step S130, according to the first extension line and the second extension line, the traffic pattern of the virtual lane corresponding to the entry lane line and the exit lane line is determined.

[0046] In the disclosed embodiment, the virtual lane corresponding to the entry lane line and the exit lane line refers to the virtual lane connecting the entry lane line and the exit lane line. The traffic mode of the virtual lane is used to represent the turning relationship between the entry lane line and the exit lane line, for example, a straight mode, a turning mode, a U-turn mode, etc.

[0047] In the disclosed embodiment, the first extension line and the second extension line are not the driving path of the vehicle, but are used to describe the geometric relationship between the entry lane line and the exit lane line within the intersection, including but not limited to direction changes, angle information, and relative position information. The first extension line and the second extension line can be used to determine the traffic mode of the virtual lane corresponding to the entry lane line and the exit lane line. For example: if the angle between the first extension line and the second extension line is close to 0 degrees, it can be determined that the traffic mode is a straight mode.

[0048] In step S140, based on the traffic mode, lane lines of the virtual lane are generated according to the first endpoint and the second endpoint.

[0049] In the disclosed embodiment, after determining the traffic mode, a first endpoint and a second endpoint may be combined to generate a smooth virtual lane line that complies with traffic rules. For example, for a straight mode, the virtual lane line may be a smooth connection of a first extension line and a second extension line. For example, a complex curve generation algorithm, such as a Bezier curve, may be introduced to ensure the smoothness and continuity of the virtual lane line.

[0050] The method for generating a virtual lane line provided by the embodiment of the present disclosure obtains the entry lane line and the exit lane line of the intersection, determines the first end point of the entry lane line and the second end point of the exit lane line; then, takes the first end point as the starting point, extends along the direction of the entry lane line, thereby obtaining a first extension line, and takes the second end point as the starting point, extends along the opposite direction of the exit lane line, thereby obtaining a second extension line, these two extension lines can describe the direction trend of the entry lane and the exit lane inside the intersection, based on this, the two extension lines are used to determine the traffic mode of the virtual lane corresponding to the entry lane line and the exit lane line; finally, based on the determined traffic mode and the first and second end points, a smooth virtual lane line that complies with traffic rules is generated. The method improves the generation efficiency and quality of virtual lane lines, reduces manual intervention, avoids the situations such as rigid lane geometry, curvature jump and unreasonable turning angle caused by manual drawing, can adapt to complex intersection scenes such as multi-fork intersections and high-speed entrances and exits, can provide accurate road network information support for intelligent driving vehicles, and enhances the reliability and safety of intelligent driving systems in different scenarios.

[0051] Figure 3 1 is a flowchart of a method for determining a traffic mode of a virtual lane corresponding to an entry lane line and an exit lane line according to some embodiments of the present disclosure.Figure 3 , based on the method for generating the virtual lane line shown in Figure 1 , the step S130 shown in Figure 1 may include the following steps.

[0052] In step S310, according to the first extension line and the second extension line, determine the direction deviation angle; the direction deviation angle is used to quantify the deviation degree between the entering lane direction and the exiting lane direction.

[0053] In the embodiments of the present disclosure, the direction deviation angle reflects the deviation degree between the vehicle entering lane direction and the exiting lane direction. When the value of the direction deviation angle is small, it indicates that the vehicle entering lane direction and the exiting lane direction are relatively close, and the vehicle's direction changes little when passing through the intersection, and it may be going straight through; when the value of the direction deviation angle is large, it means that the directions of the two lanes are quite different, and the vehicle needs to change its driving direction significantly, and it may be making a U-turn or turning. In the subsequent judgment of the passing mode, the direction deviation angle is a key reference index, and combined with other angles, the passing mode of the vehicle at the intersection can be accurately determined.

[0054] In some embodiments of the present disclosure, determining the direction deviation angle according to the first extension line and the second extension line includes: calculating the first included angle between the first extension line and the second extension line; determining the supplementary angle of the first included angle as the direction deviation angle.

[0055] In the embodiments of the present disclosure, the first included angle angle_delta refers to the smaller included angle between the first extension line and the second extension line, that is, the non-reflex angle. Among them, the value range of the first included angle angle_delta is [0 degrees, 180 degrees]. After determining the first included angle angle_delta, calculate the supplementary angle angle_1 of the first included angle angle_delta, and use this supplementary angle angle_1 as the direction deviation angle, with a value range of [0 degrees, 180 degrees].

[0056] Taking the Figure 2 shown application scenario as an example to continue the description, the first included angle angle_delta is the smaller included angle between the first extension line RayD1 and the second extension line RayS1, and calculate the supplementary angle angle_1 = 180 degrees - angle_delta, that is, this supplementary angle angle_1 is the direction deviation angle.

[0057] In the embodiments of the present disclosure, by calculating the first included angle between the first extension line and the second extension line and taking its supplementary angle as the direction deviation angle, the deviation degree between the entering lane direction and the exiting lane direction can be accurately quantified, providing an objective and quantitative basis for judging the passing mode.

[0058] In step S320, connect the first endpoint and the second endpoint to obtain the first connection line.

[0059] In step S330, according to the first connection line and the first extension line, a passing turning angle is determined; the passing turning angle is used to represent the turning direction from the entry lane to the exit lane.

[0060] In the embodiments of the present disclosure, the passing turning angle describes the turning direction of the vehicle from the entry lane direction to the exit lane direction, and this passing turning angle reflects the rotation situation from the entry lane direction to the first connection line (i.e., the connection line between the first end point of the entry lane line and the second end point of the exit lane line).

[0061] In some embodiments of the present disclosure, determining the passing turning angle according to the first connection line and the first extension line includes: determining the rotation angle of the first connection line relative to the first extension line; wherein, the rotation angle is used to rotate the first connection line to be in the same direction as the first extension line; determining the rotation angle as the passing turning angle.

[0062] In the embodiments of the present disclosure, the magnitude of the rotation angle between the first extension line and the first connection line is calculated, and the relative direction between the first connection line and the first extension line is determined. If the first connection line is in the clockwise direction of the first extension line, the rotation angle is considered negative, and if the first connection line is in the counterclockwise direction of the first extension line, the rotation angle is considered positive. According to the calculated magnitude of the rotation angle and the relative direction between the first connection line and the first extension line, the rotation angle anlgle_2 of the first connection line relative to the first extension line is determined, and its value range is [-180 degrees, 180 degrees], and this rotation angle anlgle_2 is used as the passing turning angle.

[0063] That is to say, when the passing turning angle is greater than 0 degrees, it means that the rotation from the entry lane direction to the first connection line direction is counterclockwise, corresponding to the vehicle turning left or making a U-turn. When the passing turning angle is less than 0 degrees, it means that the rotation is clockwise, corresponding to the vehicle turning right or making a U-turn. Through the passing turning angle, the direction change of the vehicle when turning at the intersection can be analyzed more meticulously.

[0064] Take Figure 2Taking the application scenario shown as an example, continue to illustrate. Connect the first endpoint D1 and the second endpoint S1 to obtain the first connection line RayC. Through the first extension line RayD1 and the first connection line RayC. Based on the direction vector of the first connection line RayC in the plane coordinate system, use the coordinate and trigonometric function relationships to calculate its orientation angle headingC. And, based on the direction vector of the first extension line RayD1 in the plane coordinate system, use the coordinate and trigonometric function relationships to calculate its orientation angle headingD. Then, subtract the orientation angle headingD of the first extension line RayD1 from the orientation angle headingC of the first connection line RayC. The obtained difference is the rotation angle size between RayD1 and RayC. And it is stipulated that the counterclockwise rotation is a positive angle and the clockwise rotation is a negative angle, obtaining the rotation angle anlgle_2 of the first connection line RayC relative to the first extension line RayD1, that is, the passing turning angle.

[0065] In the embodiments of the present disclosure, taking the rotation angle of the first connection line relative to the first extension line as the passing turning angle clarifies the turning direction from the entry lane to the exit lane, making the description of the vehicle driving direction change more accurate and improving the accuracy of the passing mode judgment.

[0066] In step S340, determine the passing mode according to the direction deviation angle and the passing turning angle.

[0067] In the embodiments of the present disclosure, the direction deviation angle angle_1 reflects the deviation degree between the entry lane direction and the exit lane direction, and is used to judge whether the vehicle needs to make a large adjustment in direction (such as a U-turn) or only a small adjustment in direction (such as going straight); the passing turning angle anlgle_2 describes the turning direction of the vehicle from the entry lane direction to the exit lane direction, which reflects the rotation situation from the entry lane direction to the first connection line (that is, the connection line of the first endpoint of the entry lane line and the second endpoint of the exit lane line), such as rotating left or right. Therefore, according to the direction deviation angle anlgle_1 and the passing turning angle anlgle_2, the passing mode of the virtual lane connecting the entry lane line and the exit lane line can be determined.

[0068] In some embodiments of the present disclosure, determining a traffic mode based on a direction deviation angle and a passing turning angle includes: in response to the direction deviation angle being less than a first preset angle, determining the traffic mode as a straight-ahead mode; in response to the direction deviation angle being greater than a second preset angle and the passing turning angle being greater than 0 degrees, determining the traffic mode as a left U-turn mode; the first preset angle being less than the second preset angle; in response to the direction deviation angle being greater than the second preset angle and the passing turning angle being less than 0 degrees, determining the traffic mode as a right U-turn mode; in response to the direction deviation angle being between the first preset angle and the second preset angle and the passing turning angle being greater than 0 degrees, determining the traffic mode as a left-turn mode; in response to the direction deviation angle being between the first preset angle and the second preset angle and the passing turning angle being less than 0 degrees, determining the traffic mode as a right-turn mode.

[0069] In the embodiments of the present disclosure, the traffic mode may include a straight-ahead mode, a U-turn mode, and a turning mode. Among them, the U-turn mode may include a left U-turn mode and a right U-turn mode, and the turning mode may include a left-turn mode and a right-turn mode.

[0070] In the embodiments of the present disclosure, the first preset angle and the second preset angle are thresholds for dividing different traffic modes, and are angle values that can be preset according to the requirements of the actual application scenario. Exemplarily, the value range of the first preset angle is between 15 degrees and 45 degrees, and the value range of the second preset angle is between 110 degrees and 170 degrees. The specific values can be set according to factors such as the actual layout of the road, traffic flow, and vehicle driving characteristics. For example, in a scenario where the urban road is narrow and the turning radius is small, the first preset angle can be set relatively small, and the second preset angle can be set relatively large.

[0071] If the direction deviation angle angle_1 is less than the first preset angle, it indicates that the deviation degree between the entering lane direction and the exiting lane direction is small, and it is determined that the vehicle basically keeps going straight within the intersection, and the traffic mode is the straight-ahead mode.

[0072] If the direction deviation angle angle_1 is greater than the second preset angle, it indicates that the deviation degree between the entering lane direction and the exiting lane direction is large, and it is determined that the vehicle makes a U-turn within the intersection. In this case, if the passing turning angle anlgle_2 is greater than 0 degrees, it indicates that the vehicle makes a left U-turn within the intersection, and the traffic mode is determined as the left U-turn mode; if the passing turning angle anlgle_2 is less than 0 degrees, it indicates that the vehicle makes a right U-turn within the intersection, and the traffic mode is determined as the right U-turn mode.

[0073] If the direction deviation angle angle_1 is between the first preset angle and the second preset angle, that is, the direction deviation angle angle_1 is greater than or equal to the first preset angle and less than or equal to the second preset angle, it indicates that the deviation degree between the entering lane direction and the exiting lane direction is moderate (i.e., the direction deviation angle is between the first preset angle and the second preset angle), and it is determined that the vehicle turns within the intersection. In this case, if the passing turning angle anlgle_2 is greater than 0 degrees, it indicates that the vehicle turns left within the intersection, and the passing mode is determined as the left-turn mode; if the passing turning angle anlgle_2 is less than 0 degrees, it indicates that the vehicle turns right within the intersection, and the passing mode is determined as the right-turn mode.

[0074] Take Figure 2 the application scenario shown as an example to continue the description. Calculate the direction deviation angle angle_1 and the passing turning angle (that is, it is counterclockwise rotation from the entering lane direction to the first connecting line RayC direction). Since the direction deviation angle angle_1 is between the first preset angle and the second preset angle, the passing mode is determined as the turning mode. Further, it is determined that the passing turning angle anlgle_2 is greater than 0 degrees, and finally the passing mode is determined as the left-turn mode.

[0075] In the embodiments of the present disclosure, by comparing the direction deviation angle with the first and second preset angles and combining the positive and negative situations of the passing turning angle, various passing modes such as straight, left U-turn, right U-turn, left turn, and right turn are covered. And in the face of the intricate relationship between the entering and exiting directions of different lanes in the intersection, based on the calculation and judgment of the direction deviation angle and the passing turning angle, various complex passing situations can be effectively sorted out, the passing mode can be accurately determined, and further the generation efficiency and quality of the virtual lane line can be improved, and it can adapt to complex intersection scenarios such as multi-fork intersections and highway entrances and exits.

[0076] Figure 4 is a flowchart of a method for generating a lane line of a virtual lane based on a passing mode according to some embodiments of the present disclosure. Refer to Figure 4 In Figure 1 the basis of the virtual lane line generation method shown, Figure 1 the step S140 shown may include the following steps.

[0077] In step S410, starting from the first endpoint, extend along the first extension line by a preset extension distance to obtain the first control point.

[0078] In the embodiments of the present disclosure, the first control point is used to control the geometric shape of the virtual lane line, and the extension distance N is used to determine the position of the first control point on the first extension line.

[0079] Among them, the first endpoint is the end point of the entry lane line, that is, the intersection point of the entry lane line and the intersection. Generate a first extension line along the direction of the entry lane line from the first endpoint, and this extension line describes the direction extension trend of the entry lane line inside the intersection. By extending a distance N along the first extension line from the first endpoint, a first control point is obtained.

[0080] Taking Figure 2 the application scenario shown as an example for further illustration, the first endpoint D1 extends a distance N along the first extension line RayD1 to obtain the first control point D2.

[0081] In step S420, starting from the second endpoint, extend along the second extension line according to a preset extension distance to obtain a second control point.

[0082] In the embodiments of the present disclosure, the second control point is used to control the geometric shape of the virtual lane line, and the extension distance N is used to determine the position of the second control point on the second extension line.

[0083] Among them, the second endpoint refers to the end point of the exit lane line, that is, the intersection point of the exit lane line and the intersection, and is used to indicate the starting position of leaving the intersection along the exit lane line. Generate a second extension line along the opposite direction of the exit lane from the second endpoint, and this extension line describes the direction extension trend of the exit lane line inside the intersection. By extending a distance N along the second extension line from the second endpoint, a second control point is obtained.

[0084] Taking Figure 2 the application scenario shown as an example for further illustration, the second endpoint S1 extends a distance N along the second extension line RayS1 to obtain the second control point S2.

[0085] In some embodiments of the present disclosure, it further includes: determining the distance of the first connection line between the first endpoint of the entry lane line and the second endpoint of the exit lane line; in response to the distance of the first connection line being less than a preset distance threshold, determining the preset extension distance according to the distance of the first connection line; in response to the distance of the first connection line being greater than or equal to the preset distance threshold, determining the initial value as the preset extension distance.

[0086] In the embodiments of the present disclosure, the preset distance threshold is a threshold for determining whether to adjust the preset extension distance. The first connection line is the connection line between the first endpoint of the entry lane line and the second endpoint of the exit lane line, and its distance reflects the spatial relationship between the entry lane line and the exit lane line.

[0087] If the distance of the first connection line is less than the preset distance threshold, in order to avoid small roads with too close distances, the preset extension distance can be dynamically adjusted according to the distance of the first connection line. If the distance of the first connection line is greater than or equal to the preset distance threshold, the preset extension distance adopts the initial value (i.e., a fixed value).

[0088] In a possible implementation, half of the first connection line can be judged. If half of the first connection line is less than a set distance value, the extension distance is adjusted according to half of the first connection line; otherwise, the extension distance adopts the initial value. For example, the initial value of the preset extension distance N is set to a certain preset length. If half of the length of the first connection line, LenghRC, is less than a certain preset length threshold, the preset extension distance N can be set to LenghRC / 3; if half of the length of the first connection line, LenghRC, is greater than or equal to the preset length threshold, the preset extension distance N takes its initial value. Here, the preset length and the preset length threshold can be flexibly determined according to the scenario.

[0089] In the embodiments of the present disclosure, by dynamically adjusting the extension distance, it is possible to avoid small roads with too close distances and ensure that the finally generated virtual lane lines can maintain smoothness and rationality in different intersection scenarios.

[0090] In step S430, based on the traffic mode, the third control point is determined.

[0091] In the embodiments of the present disclosure, the traffic mode may include a straight-ahead mode, a right-turn mode, a left-turn mode, a right U-turn mode, and a left U-turn mode. The third control point is used to describe the geometric shape change of the virtual lane line inside the intersection, and its position can be determined according to the traffic mode. By introducing the third control point, it is possible to flexibly generate virtual lane lines that conform to different traffic modes and ensure the smoothness and continuity of the lane lines. For example, in the left-turn mode, the third control point may be located in the left area inside the intersection; in the right U-turn mode, the third control point may be located in the right area inside the intersection.

[0092] In some embodiments of the present disclosure, determining the third control point based on the traffic mode includes: in response to the traffic mode being the straight-ahead mode, determining the midpoint between the first endpoint and the second endpoint as the third control point; in response to the traffic mode being the U-turn mode, rotating the first extension line and the second extension line respectively to obtain the rotated first extension line and the rotated second extension line, and determining the first intersection point of the rotated first extension line and the rotated second extension line as the third control point; in response to the traffic mode being the turning mode, determining the second intersection point of the first extension line and the second extension line, and determining the third control point according to the second intersection point and the midpoint.

[0093] In the embodiments of the present disclosure, if the traffic mode is the straight-ahead mode, the midpoint between the first endpoint and the second endpoint is used as the third control point. Figure 5 It is a schematic diagram of the third control point in the straight-ahead mode shown according to some embodiments of the present disclosure. Figure 5Shows a typical straight - line mode and a Z - shaped straight - line mode. Among them, the typical straight - line mode is shown on the left, where the virtual lane line is approximately a straight line. The Z - shaped straight - line mode is shown on the right. While maintaining the straight - line feature, the virtual lane line can adapt to the need for lateral displacement.

[0094] Figure 5 Among them, A is the mid - point of the first end - point D1 of the entry lane line and the second end - point S1 of the exit lane line. As Figure 5 As shown on the left, in the straight - line mode, the included angle between the entry lane line and the exit lane line is small, approaching straight - line driving. Therefore, selecting point A as the third control point can ensure that the generated virtual lane line is approximately a straight line, meeting the shortest - path requirement for passing through the intersection in a straight line. As Figure 5 As shown on the right, the included angle between the entry lane line and the exit lane line conforms to the straight - line mode. However, due to the large lateral distance between the two lanes, the vehicle needs to perform lateral displacement during driving, forming a Z - shaped driving path. From Figure 5 It can be seen that for the Z - shaped straight - line mode, even if there is a large lateral distance between the entry lane line and the exit lane line, point A can still be selected as the third control point, and the generated virtual lane line can still accurately describe the vehicle's driving path.

[0095] In the embodiments of the present disclosure, when the determined traffic mode is the straight - line mode, the third control point is located at the mid - point of the first end - point and the second end - point, which can be compatible with both the straight - line mode and the Z - shaped straight - line mode, and determine the smoothness and continuity of the virtual lane line.

[0096] In some embodiments of the present disclosure, in response to the traffic mode being the U - turn mode, the first extension line and the second extension line are respectively rotated to obtain the rotated first extension line and the rotated second extension line, including: in response to the traffic mode being the left U - turn mode, the first extension line is rotated left by a preset angle around the first control point to obtain the rotated first extension line; the second extension line is rotated right by a preset angle around the second control point to obtain the rotated second extension line; in response to the traffic mode being the right U - turn mode, the first extension line is rotated right by a preset angle around the first control point to obtain the rotated first extension line; the second extension line is rotated left by a preset angle around the second control point to obtain the rotated second extension line.

[0097] In the embodiments of the present disclosure, the preset angle can be set according to actual needs. Exemplarily, the value range of the preset angle is between 40 degrees and 50 degrees. Figure 6 Is a schematic diagram of the third control point in the left U - turn mode shown according to some embodiments of the present disclosure. As Figure 6As shown, after determining that the traffic mode is the left U-turn mode, rotate the first extension line RayD1 counterclockwise around the first control point D2 by a preset angle T to obtain the rotated first extension line RayD2, and rotate the second extension line RayS1 clockwise around the second control point S2 by the preset angle T to obtain the rotated second extension line RayS2. Determine the intersection point D3 between the rotated first extension line RayD2 and the rotated second extension line RayS2 as the third control point.

[0098] Similarly, after determining that the traffic mode is the right U-turn mode, rotate the first extension line counterclockwise around the first control point by a preset angle to obtain the rotated first extension line; and rotate the second extension line clockwise around the second control point by a preset angle to obtain the rotated second extension line; then, determine the first intersection point between the rotated first extension line and the rotated second extension line as the third control point.

[0099] In the embodiments of the present disclosure, when determining that the traffic mode is the left / left U-turn mode, the third control point is located at the intersection of the rotated first extension line and the second extension line, ensuring that the virtual lane line can accurately describe the U-turn behavior.

[0100] In some embodiments of the present disclosure, determining the third control point according to the second intersection point and the midpoint includes: determining a sliding parameter value; connecting the second intersection point and the midpoint to obtain a second connection line; starting from the midpoint, slide on the second connection line according to the sliding parameter value to obtain the third control point.

[0101] In the embodiments of the present disclosure, the sliding parameter value is used to control the sliding position on the connection line connecting the second intersection point (i.e., the intersection point of the first extension line and the second extension line) and the midpoint (i.e., the midpoint of the first endpoint and the second endpoint). Its value range will affect the position of the third control point on this connection line, thereby adjusting the shape of the generated lane line to conform to the actual situation of the turn.

[0102] In some embodiments of the present disclosure, it further includes: setting a sliding parameter value according to the first included angle between the first extension line and the second extension line; in response to the sliding parameter value being greater than 1 or the first included angle being greater than 90 degrees, updating the sliding parameter value to 1; in response to the sliding parameter value being less than 0, updating the sliding parameter value to 0.

[0103] In the embodiments of the present disclosure, the sliding parameter value can be initially set according to the first included angle between the first extension line and the second extension line. This initial setting may be based on some empirical formulas or experimental data. The larger the angle of the first included angle angle_delta, the sharper the turn, and the smaller the sliding parameter value, so that the third control point is closer to the midpoint on the second connection line, thus simulating the characteristic that the driving path of the vehicle is more compact and closer to the center of the intersection during a sharp turn; the smaller the angle of the first included angle angle_delta, the larger the sliding parameter value, and the third control point is closer to the second intersection point, which conforms to the actual situation that the path of the vehicle is more stretched during a gentle turn, so that the generated virtual lane line can more accurately fit the actual turning path of the vehicle.

[0104] To ensure that the sliding parameter value is within a reasonable range, boundary condition checks can be performed. If the sliding parameter value is greater than 1, it means that the position of the third control point exceeds the range of the second connection line, which does not conform to the actual situation. At this time, the sliding parameter value is updated to 1. Similarly, if the sliding parameter value is less than 0, it is also illogical because when sliding on the connection line starting from the midpoint, the minimum position is the midpoint itself, so the sliding parameter value is updated to 0. Through such boundary checks and update operations, it is ensured that the sliding parameter value is always within a reasonable range, so that the third control point determined based on this parameter value can accurately reflect the driving trajectory of the vehicle in the turning mode, and then generate a virtual lane line that conforms to the actual traffic rules and vehicle driving habits.

[0105] In the embodiments of the present disclosure, if the determined traffic mode is the turning mode, the second intersection point of the first extension line and the second extension line is determined. This second intersection point reflects an intersection position after the extension of the entering lane direction and the exiting lane direction, and is related to the potential path of the vehicle turning. Then, the second intersection point and the midpoint are connected to obtain the second connection line; starting from the midpoint, sliding is performed on the second connection line according to the sliding parameter value to obtain the third control point.

[0106] Take Figure 2 as an example for illustration. B is the second intersection point of the first extension line RayD1 and the second extension line RayS1, and A is the midpoint between the first endpoint D1 and the second endpoint S1. Connect the second intersection point B and the midpoint A to obtain the second connection line AB. Starting from the midpoint A, sliding is performed on the second connection line AB according to the sliding parameter value k to obtain the third control point C, where the ratio of AC to AB is the sliding parameter value.

[0107] In the embodiments of the present disclosure, the second intersection point of the first extension line and the second extension line is determined. This second intersection point reflects the intersection position after the extension of the entry lane and the exit lane. Based on the line connecting the midpoint and this intersection point, the third control point is determined by sliding along this line according to the sliding parameter value, which can flexibly adjust the position of the third control point according to different turning situations. Exemplarily, when turning at a small angle, the sliding parameter value is larger, and the third control point is closer to the second intersection point, and the generated lane line is more in line with the characteristic that the vehicle path is more stretched when turning; when turning at a large angle, the sliding parameter value is smaller, and the third control point is closer to the midpoint, simulating the actual driving condition that the vehicle path is more compact when turning sharply, so that the generated virtual lane line can more accurately fit the actual driving path of the vehicle in the turning mode.

[0108] Moreover, the midpoint of the first endpoint and the second endpoint represents a balanced position of the entry lane and the exit lane at the intersection. Connect the midpoint with the second intersection point, and determine the third control point on this line according to the sliding parameter value, comprehensively considering various factors such as the positional relationship between the entry lane and the exit lane and the turning direction, avoiding the deviation caused by determining the control point by a single factor, significantly improving the accuracy of generating the virtual lane line, and providing a more reliable path planning basis for the intelligent driving system.

[0109] In step S440, according to the first endpoint, the first control point, the third control point, the second control point, and the second endpoint, the lane line of the virtual lane is generated.

[0110] Among them, the first endpoint and the second endpoint are respectively the starting point and the ending point of the virtual lane line, which can be used to control the geometric shape of the virtual lane line near the entry lane and the exit lane; the first control point and the second control point respectively control the geometric shape of the virtual lane line near the entry lane and the exit lane; the third control point is used to describe the geometric shape change of the virtual lane line inside the intersection, ensuring the smoothness and continuity of the lane line. After determining these points, a curve generation algorithm, such as a Bezier curve, can be used to generate a smooth virtual lane line based on the first endpoint, the first control point, the third control point, the second control point, and the second endpoint.

[0111] In some embodiments of the present disclosure, generating the lane line of the virtual lane according to the first endpoint, the first control point, the third control point, the second control point, and the second endpoint includes: generating an initial trajectory line according to the first endpoint, the first control point, the third control point, the second control point, and the second endpoint; performing interpolation sampling processing on the initial trajectory line to obtain a plurality of sampling points; generating the lane line of the virtual lane according to the plurality of sampling points.

[0112] Among them, the initial trajectory line is a trajectory line generated based on the first endpoint, the first control point, the third control point, the second control point, and the second endpoint, and is used to represent the basic contour of the virtual lane line. Exemplarily, the initial trajectory line can be generated based on the Bezier curve algorithm. This algorithm comprehensively considers the position information of these points, such as the first endpoint, the first control point, the third control point, the second control point, and the second endpoint, and gradually determines the positions of each point on the curve. Finally, these points are connected to form an initial trajectory line, so that the generated initial trajectory line meets the expected requirements in terms of the shape when entering and exiting the lane and inside the intersection.

[0113] After generating the initial trajectory line, interpolation sampling processing can be performed on the initial trajectory line. Exemplarily, a linear interpolation algorithm can be used to insert sampling points at uniform intervals between two adjacent points on the initial trajectory line. After interpolation sampling processing, a sufficient number of sampling points with more reasonable distributions are obtained. Then, these sampling points can be connected in sequence to form the lane line of the final virtual lane, so that the finally generated lane line can match the actual situation well near the entrance and exit of the lane and can also achieve smooth and continuous transitions inside the intersection, meeting the geometric shape and continuity requirements of the lane line, and improving the accuracy and reliability of the generation of the virtual lane line.

[0114] In the embodiments of the present disclosure, by taking the first endpoint and the second endpoint as starting points, the first control point and the second control point are respectively obtained on the first extension line and the second extension line according to the same extension distance, which determines important boundary extension position points for the construction of the virtual lane line. These two control points reflect the extension trends of the vehicle along the directions of entering and exiting the lane inside the intersection. Combining the first endpoint and the second endpoint can more comprehensively define the approximate range and direction of the virtual lane in the intersection area, making the subsequent generated lane line more conform to the actual driving path and providing an accurate path reference for intelligent driving vehicles.

[0115] Moreover, the method of determining the third control point based on the traffic pattern fully considers different driving behaviors of the vehicle at the intersection, such as going straight, turning around, and turning. Under different traffic patterns, the determination method of the third control point is different, so that the generated lane line can be flexibly adjusted according to the actual driving situation, enhancing the adaptability of the generation of the virtual lane line to various complex traffic scenarios.

[0116] In addition, the lane lines of the virtual lane are generated by comprehensively using the first endpoint, the first control point, the third control point, the second control point, and the second endpoint. The combination of multiple reference points enables the generation of virtual lane lines not only to rely on endpoint information but also to fully consider the extension and changes of the lane within the intersection, improving the accuracy and rationality of the virtual lane lines, making the generated training lane lines more in line with traffic rules and the actual driving needs of vehicles, providing more reliable support for the decision-making of the intelligent driving system, and enhancing the safety and stability of intelligent driving.

[0117] In addition, it has a certain degree of generality for different types of intersections and traffic scenarios. Whether it is a simple crossroads or a complex intersection, the same process can be used to determine each control point and generate lane lines, which has a certain degree of scalability. In practical applications, the extension distance, the judgment rules of traffic patterns, and the determination method of the third control point can be adjusted and optimized according to specific requirements to adapt to more diverse scenarios and higher precision requirements.

[0118] Figure 7 It is an example diagram of the lane lines in the intersection area generated by the method for generating virtual lane lines according to the embodiments of the present disclosure. Figure 7 In it, the black lines in the intersection area represent the drawn virtual lane lines, which plan the driving path of vehicles at the intersection. The black dots are key control points or reference points used to assist in determining the position and direction of the lane lines. From Figure 7 It can be seen that the method for generating virtual lane lines according to the embodiments of the present disclosure can effectively handle complex intersection scenarios where multi-directional roads meet.

[0119] The method for generating virtual lane lines according to the embodiments of the present disclosure improves the generation efficiency and quality of virtual lane lines, reduces manual intervention, and avoids situations such as rigid lane geometries, curvature jumps, and unreasonable turning angles caused by manual drawing. It can adapt to complex intersection scenarios such as multi-fork intersections and highway entrances and exits, can provide accurate road network information support for intelligent driving vehicles, and enhances the reliability and safety of the intelligent driving system in different scenarios.

[0120] It should be noted that the above-mentioned drawings are only schematic illustrations of the processes included in the methods according to some embodiments of the present disclosure, rather than for limiting purposes. It is easy to understand that the processes shown in the above-mentioned drawings do not indicate or limit the time sequence of these processes. Additionally, it is also easy to understand that these processes can be executed, for example, synchronously or asynchronously in multiple modules.

[0121] The following are the embodiments of the apparatus of the present disclosure, which can be used to execute the embodiments of the method of the present disclosure. For details not disclosed in the embodiments of the apparatus of the present disclosure, please refer to the embodiments of the method of the present disclosure.

[0122] Figure 8It is a block diagram of a virtual lane line generation device shown according to some embodiments of the present disclosure. Refer to Figure 8 , the device 800 may include: an endpoint determination module 810, an extension line generation module 820, a mode determination module 830, and a lane line generation module 840.

[0123] Among them, the endpoint determination module 810 is configured to: determine a first endpoint entering the lane line and a second endpoint exiting the lane line. The extension line generation module 820 is configured to: use the first endpoint as a starting point and generate a first extension line along the direction of the entering lane line; use the second endpoint as a starting point and generate a second extension line along the opposite direction of the exiting lane line. The mode determination module 830 is configured to: determine the passing mode of the virtual lane corresponding to the entering lane line and the exiting lane line according to the first extension line and the second extension line. The lane line generation module 840 is configured to: generate the lane line of the virtual lane based on the passing mode according to the first endpoint and the second endpoint.

[0124] In some embodiments of the present disclosure, the mode determination module 830 is further configured to: determine a direction deviation angle according to the first extension line and the second extension line; the direction deviation angle is used to quantify the deviation degree between the entering lane direction and the exiting lane direction; connect the first endpoint and the second endpoint to obtain a first connection line; determine a passing turning angle according to the first connection line and the first extension line; the passing turning angle is used to represent the turning direction from the entering lane to the exiting lane; determine the passing mode according to the direction deviation angle and the passing turning angle.

[0125] In some embodiments of the present disclosure, the mode determination module 830 is further configured to: in response to the direction deviation angle being less than a first preset angle, determine the passing mode as a straight running mode; in response to the direction deviation angle being greater than a second preset angle and the passing turning angle being greater than 0 degrees, determine the passing mode as a left U-turn mode; the first preset angle is less than the second preset angle; in response to the direction deviation angle being greater than the second preset angle and the passing turning angle being less than 0 degrees, determine the passing mode as a right U-turn mode; in response to the direction deviation angle being between the first preset angle and the second preset angle and the passing turning angle being greater than 0 degrees, determine the passing mode as a left turning mode; in response to the direction deviation angle being between the first preset angle and the second preset angle and the passing turning angle being less than 0 degrees, determine the passing mode as a right turning mode.

[0126] In some embodiments of the present disclosure, the mode determination module 830 is further configured to: calculate a first included angle between the first extension line and the second extension line; determine the supplementary angle of the first included angle as the direction deviation angle.

[0127] In some embodiments of the present disclosure, the mode determination module 830 is further configured to: determine the rotation angle of the first connection line relative to the first extension line; wherein the rotation angle is used to rotate the first connection line to be in the same direction as the first extension line; and determine the rotation angle as the passing turning angle.

[0128] In some embodiments of the present disclosure, the lane line generation module 840 is further configured to: start from the first endpoint and extend along the first extension line by a preset extension distance to obtain a first control point; start from the second endpoint and extend along the second extension line by a preset extension distance to obtain a second control point; determine a third control point based on the passing mode; and generate the lane line of the virtual lane according to the first endpoint, the first control point, the third control point, the second control point, and the second endpoint.

[0129] In some embodiments of the present disclosure, the lane line generation module 840 is further configured to: in response to the passing mode being the straight mode, determine the midpoint between the first endpoint and the second endpoint as the third control point; in response to the passing mode being the U-turn mode, rotate the first extension line and the second extension line respectively to obtain the rotated first extension line and the rotated second extension line, and determine the first intersection point of the rotated first extension line and the rotated second extension line as the third control point; in response to the passing mode being the turning mode, determine the second intersection point of the first extension line and the second extension line, and determine the third control point according to the second intersection point and the midpoint.

[0130] In some embodiments of the present disclosure, the lane line generation module 840 is further configured to: in response to the passing mode being the left U-turn mode, rotate the first extension line counterclockwise around the first control point by a preset angle to obtain the rotated first extension line; rotate the second extension line clockwise around the second control point by a preset angle to obtain the rotated second extension line; in response to the passing mode being the right U-turn mode, rotate the first extension line clockwise around the first control point by a preset angle to obtain the rotated first extension line; rotate the second extension line counterclockwise around the second control point by a preset angle to obtain the rotated second extension line.

[0131] In some embodiments of the present disclosure, as Figure 8 shown, the device 800 further includes a sliding parameter setting module 850, which is configured to: determine the sliding parameter value; wherein, according to the first included angle between the first extension line and the second extension line, set the sliding parameter value. The lane line generation module 840 is further configured to: connect the second intersection point and the midpoint to obtain a second connection line; start from the midpoint and slide along the second connection line according to the sliding parameter value to obtain a third control point.

[0132] In some embodiments of the present disclosure, as Figure 8As shown, the device 800 further includes an extension distance setting module 860 configured to: determine the distance of a first connection line between a first end point of an entry lane line and a second end point of an exit lane line; in response to the distance of the first connection line being less than a preset distance threshold, determine a preset extension distance according to the distance of the first connection line; in response to the distance of the first connection line being greater than or equal to the preset distance threshold, determine the preset extension distance as an initial value.

[0133] In some embodiments of the present disclosure, the lane line generation module 840 is further configured to: generate an initial trajectory line according to the first end point, the first control point, the third control point, the second control point, and the second end point; perform interpolation sampling processing on the initial trajectory line to obtain a plurality of sampling points; generate a lane line of a virtual lane according to the plurality of sampling points.

[0134] 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 herein.

[0135] In some embodiments of the present disclosure, a mobile terminal is provided, including a processor, a memory for storing processor-executable instructions, and a display device. Wherein, the processor is configured to implement a method for generating a virtual lane line, and the method includes: determining a first end point of an entry lane line and a second end point of an exit lane line; taking the first end point as a starting point and generating a first extension line along the direction of the entry lane line; taking the second end point as a starting point and generating a second extension line along the reverse direction of the exit lane line; determining a passing mode of a virtual lane corresponding to the entry lane line and the exit lane line according to the first extension line and the second extension line; generating a lane line of the virtual lane based on the passing mode according to the first end point and the second end point. The display device is configured to display the lane line of the virtual lane generated by the processor.

[0136] Exemplarily, the mobile terminal may include a vehicle. During the driving process, the vehicle can collect information on the entry lane line and the exit lane line of the current intersection by means of sensors such as cameras and lidar equipped on itself, determine the passing mode of the virtual lane, such as straight, turning, U-turn modes, etc., through the method provided in the above embodiments, and generate corresponding virtual lane lines. The generated virtual lane lines will be displayed on the in-vehicle screen. For the driver, the virtual lane lines can be intuitively seen on the in-vehicle screen, and then the driving path can be planned based on them. In this way, it can ensure that the vehicle drives safely in strict accordance with the specified lanes and driving directions, avoiding traffic accidents caused by incorrect lane selection or deviation of the driving direction, and greatly improving the driving safety and efficiency.

[0137] Exemplarily, the mobile terminal may include a smart phone on which a navigation program is installed. After the user inputs a destination through the navigation program, a navigation route can be generated. When approaching an intersection, the method provided by the above embodiment can be used to capture the intersection picture by using the smart phone camera, identify the entry lane line and the exit lane line, determine the first end point and the second end point, and then generate the first extension line and the second extension line, determine the passing mode of the virtual lane, and generate the corresponding virtual lane line. The generated virtual lane line can be displayed on the real-time picture captured by the smart phone camera or in the enlarged view of the intersection on the navigation map. The user can intuitively see the lane to be driven into at the current intersection, the specific path of turning or U-turning, avoiding driving deviation or traffic violations caused by missing intersection instructions or driving into the wrong lane, and effectively improving the accuracy of navigation.

[0138] Of course, the mobile terminal may also include other intelligent devices, such as a folding screen device, a tablet computer, a personal computer, a smart helmet, etc., and the embodiments of the present disclosure do not limit this. Figure 9 It is a block diagram of a mobile terminal shown according to some embodiments of the present disclosure. The mobile terminal 900 may be various types of intelligent devices.

[0139] Referring to Figure 9 , the mobile terminal 900 may include one or more of the following components: a processing component 902, a memory 904, a power component 906, a multimedia component 908, an audio component 910, an input / output (I / O) interface 912, a sensor component 914, and a communication component 916.

[0140] The processing component 902 generally controls the overall operation of the mobile terminal 900, such as operations associated with display, telephone call, data communication, camera operation, and recording operation. The processing component 902 may include one or more processors 920 to execute instructions to complete all or part of the steps of the above method. In addition, the processing component 902 may include one or more modules to facilitate the interaction between the processing component 902 and other components. For example, the processing component 902 may include a multimedia module to facilitate the interaction between the multimedia component 908 and the processing component 902.

[0141] The memory 904 is configured to store various types of data to support the operation of the mobile terminal 900. Examples of such data include instructions for any application or method operating on the mobile terminal 900, contact data, phone book data, messages, pictures, videos, etc. The memory 904 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.

[0142] The power supply component 906 provides power to various components of the mobile terminal 900. The power supply component 906 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the mobile terminal 900.

[0143] The multimedia component 908 includes a screen that provides an output interface between the mobile terminal 900 and the user, i.e., a display device. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can not only sense the boundaries of touch or swipe actions, but also detect the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 908 includes a front camera and / or a rear camera. When the mobile terminal 900 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.

[0144] The audio component 910 is configured to output and / or input audio signals. For example, the audio component 910 includes a microphone (MIC) that is configured to receive external audio signals when the mobile terminal 900 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 904 or transmitted via the communication component 916. In some embodiments, the audio component 910 further includes a speaker for outputting audio signals.

[0145] The I / O interface 912 provides an interface between the processing component 902 and a peripheral interface module, which can be a keyboard, a click wheel, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

[0146] The sensor assembly 914 includes one or more sensors for providing a status assessment of various aspects for the mobile terminal 900. For example, the sensor assembly 914 can detect the on / off state of the mobile terminal 900, the relative positioning of components, such as the display and keypad of the mobile terminal 900. The sensor assembly 914 can also detect a change in the position of the mobile terminal 900 or components within the mobile terminal 900, the presence or absence of user contact with the mobile terminal 900, the orientation or acceleration / deceleration of the mobile terminal 900, and a change in the temperature of the mobile terminal 900. The sensor assembly 914 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 914 can include a voice sensor configured to collect voice data. The sensor assembly 914 can also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 914 can also include a heart rate sensor, a blood pressure sensor, an acceleration sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0147] The communication component 916 is configured to facilitate communication between the mobile terminal 900 and other devices in a wired or wireless manner. The mobile terminal 900 can access a wireless network based on communication standards, such as WiFi, 3G, 4G, 5G, other communication standards, or a combination thereof. In some embodiments of the present disclosure, the communication component 916 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In some embodiments of the present disclosure, the communication component 916 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0148] In some embodiments of the present disclosure, the mobile terminal 900 can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above methods.

[0149] In some embodiments of the present disclosure, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 904 including instructions, and the above instructions can be executed by a processor 920 of the mobile terminal 900 to complete the above methods. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0150] A non - transitory computer - readable storage medium, when the instructions in the storage medium are executed by a processor of a mobile terminal, enables the mobile terminal to execute a method for generating virtual lane lines. The method includes: determining a first endpoint of an entry lane line and a second endpoint of an exit lane line; generating a first extension line with the first endpoint as a starting point along the direction of the entry lane line; generating a second extension line with the second endpoint as a starting point along the opposite direction of the exit lane line; determining a passing mode of the virtual lane corresponding to the entry lane line and the exit lane line according to the first extension line and the second extension line; and generating lane lines of the virtual lane based on the passing mode according to the first endpoint and the second endpoint.

[0151] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing 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 common general knowledge or conventional technical means in the technical field not disclosed by the present disclosure. The specification and examples are only to be considered as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0152] 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 can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A method for generating a virtual lane line, characterized in that: The method comprises: Determine a first endpoint of an entry lane line and a second endpoint of an exit lane line; Taking the first end point as a starting point, a first extension line is generated along the direction of the entry lane line; taking the second end point as a starting point, a second extension line is generated along the opposite direction of the exit lane line; Determining a traffic mode of a virtual lane corresponding to the entry lane line and the exit lane line according to the first extension line and the second extension line; Based on the traffic mode, a lane line of the virtual lane is generated according to the first endpoint and the second endpoint.

2. The method according to claim 1, characterized in that The determining, according to the first extension line and the second extension line, a traffic mode of a virtual lane corresponding to the entry lane line and the exit lane line includes: Determining a direction deviation angle according to the first extension line and the second extension line; the direction deviation angle is used to quantify the degree of deviation between the direction of entering the lane and the direction of exiting the lane; Connecting the first endpoint and the second endpoint to obtain a first connecting line; Determine a passing turning angle according to the first connecting line and the first extension line; the passing turning angle is used to indicate a turning direction from entering a lane to exiting a lane; The traffic mode is determined according to the direction deviation angle and the traffic turning angle.

3. The method according to claim 2, characterized in that The determining the traffic mode according to the direction deviation angle and the traffic turning angle comprises: In response to the direction deviation angle being less than a first preset angle, determining that the travel mode is a straight travel mode; In response to the direction deviation angle being greater than a second preset angle and the passing turning angle being greater than 0 degrees, determining that the passing mode is a left turn mode; the first preset angle is less than the second preset angle; In response to the direction deviation angle being greater than the second preset angle and the passing turning angle being less than 0 degrees, determining that the passing mode is a right turn mode; In response to the direction deviation angle being between the first preset angle and the second preset angle, and the passing turning angle being greater than 0 degrees, determining that the passing mode is a left turning mode; In response to the direction deviation angle being between the first preset angle and the second preset angle, and the passing turning angle being less than 0 degrees, the passing mode is determined to be a right turning mode.

4. The method according to claim 2, characterized in that: The determining the direction deviation angle according to the first extension line and the second extension line includes: Calculating a first angle between the first extension line and the second extension line; The supplementary angle of the first angle is determined as the direction deviation angle.

5. The method according to claim 2, characterized in that: The determining of the passing turning angle according to the first connecting line and the first extension line includes: Determine a rotation angle of the first connecting line relative to the first extension line; wherein the rotation angle is used to rotate the first connecting line to be consistent with the direction of the first extension line; The rotation angle is determined as the passing turning angle.

6. The method according to claim 1, characterized in that The generating the lane line of the virtual lane according to the first endpoint and the second endpoint based on the traffic mode includes: Taking the first endpoint as a starting point, extending on the first extension line according to a preset extension distance to obtain a first control point; Taking the second endpoint as a starting point, extending on the second extension line according to the preset extension distance to obtain a second control point; Based on the traffic pattern, determining a third control point; A lane line of the virtual lane is generated according to the first endpoint, the first control point, the third control point, the second control point and the second endpoint.

7. The method according to claim 6, characterized in that The determining of the third control point based on the traffic mode includes: In response to the passage mode being a straight travel mode, determining a midpoint between the first endpoint and the second endpoint as the third control point; In response to the passage mode being a U-turn mode, the first extension line and the second extension line are respectively rotated to obtain a rotated first extension line and a rotated second extension line, and a first intersection point of the rotated first extension line and the rotated second extension line is determined as the third control point; In response to the traffic mode being a turning mode, a second intersection point of the first extension line and the second extension line is determined, and the third control point is determined according to the second intersection point and the midpoint.

8. The method according to claim 7, characterized in that In response to the passage mode being a U-turn mode, respectively rotating the first extension line and the second extension line to obtain the rotated first extension line and the rotated second extension line, comprises: In response to the passage mode being a left turn mode, the first extension line is rotated to the left by a preset angle around the first control point to obtain the rotated first extension line; the second extension line is rotated to the right by the preset angle around the second control point to obtain the rotated second extension line; In response to the passage mode being a right turn mode, the first extension line is rotated rightward by a preset angle around the first control point to obtain the rotated first extension line; the second extension line is rotated leftward by the preset angle around the second control point to obtain the rotated second extension line.

9. The method according to claim 7, characterized in that: The determining the third control point according to the second intersection point and the midpoint comprises: Determining a sliding parameter value; wherein the sliding parameter value is set according to a first angle between the first extension line and the second extension line; Connecting the second intersection point and the midpoint to obtain a second connecting line; Taking the midpoint as the starting point, sliding is performed on the second connecting line according to the sliding parameter value to obtain the third control point.

10. The method according to claim 6, characterized in that The method further comprises: Determine a distance between a first end point of the entry lane line and a second end point of the exit lane line; In response to the distance of the first connection line being less than a preset distance threshold, determining the preset extension distance according to the distance of the first connection line; In response to the distance of the first connection line being greater than or equal to the preset distance threshold, the preset extension distance is determined according to an initial value.

11. The method according to claim 6, characterized in that The generating the lane line of the virtual lane according to the first endpoint, the first control point, the third control point, the second control point and the second endpoint includes: Generate an initial trajectory line according to the first endpoint, the first control point, the third control point, the second control point and the second endpoint; Performing interpolation sampling processing on the initial trajectory line to obtain multiple sampling points; A lane line of the virtual lane is generated according to the multiple sampling points.

12. A device for generating a virtual lane line, characterized in that: The device comprises: An endpoint determination module is configured to determine a first endpoint of an entry lane line and a second endpoint of an exit lane line; An extension line generating module is configured to generate a first extension line along the direction of the lane entry line with the first end point as a starting point; and generate a second extension line along the opposite direction of the lane exit line with the second end point as a starting point; a mode determination module, configured to determine a traffic mode of a virtual lane corresponding to the entry lane line and the exit lane line according to the first extension line and the second extension line; A lane line generation module is configured to generate a lane line of the virtual lane according to the first endpoint and the second endpoint based on the traffic mode.

13. A mobile terminal, characterized in that: include: processor; A memory for storing processor executable instructions; wherein the processor is configured to implement the method for generating a virtual lane line according to any one of claims 1 to 11; The display device is configured to display lane lines of the virtual lane generated by the processor.

14. A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of a mobile terminal, enables the mobile terminal to execute the method for generating a virtual lane line according to any one of claims 1 to 11.

15. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method for generating a virtual lane line according to any one of claims 1 to 11.

Images