Turning reference line generation method and device, vehicle and storage medium

Abstract

The invention relates to a turning reference line generation method and device, a vehicle and a storage medium in the technical field of vehicle control, and the method comprises the steps: responding to vehicle turning, and determining a navigation turning path point of the vehicle; determining a zebra crossing turning path point of the vehicle according to the turning direction of the vehicle, the navigation turning path point and the acquired aerial view coordinates of the zebra crossing; determining a target turning path point according to the lane line information of the road after the vehicle turns, the navigation turning path point and the zebra crossing turning path point; and in the turning process of the vehicle, according to the target turning path point, generating a turning reference line of the vehicle. Therefore, the vehicle turning success rate can be increased, the dragon drawing phenomenon in the vehicle turning process is reduced, and the driving comfort is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle control, and particularly to a method and apparatus for generating a turning reference line, a vehicle, and a storage medium. Background Art

[0002] In the scenario of a vehicle turning, it is difficult to accurately guide the vehicle into the target lane after turning, and the vehicle cannot be effectively guided to travel, resulting in a low success rate of vehicle turning. The vehicle has a zigzag driving pattern, leading to low driving comfort. Summary of the Invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a method and apparatus for generating a turning reference line, a vehicle, and a storage medium.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a method for generating a turning reference line, including:

[0005] In response to a vehicle turning, determining a navigation turning path point of the vehicle;

[0006] According to the turning direction of the vehicle, the navigation turning path point, and the obtained aerial coordinates of the zebra crossing, determining a zebra crossing turning path point of the vehicle;

[0007] According to the lane line information of the road after the vehicle turns, the navigation turning path point, and the zebra crossing turning path point, determining a target turning path point;

[0008] During the turning process of the vehicle, generating a turning reference line of the vehicle according to the target turning path point.

[0009] Optionally, the determining the zebra crossing turning path point of the vehicle according to the turning direction of the vehicle, the navigation turning path point, and the obtained aerial coordinates of the zebra crossing includes:

[0010] Determining a target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turning path point, and the obtained aerial coordinates of the zebra crossing;

[0011] Determining the zebra crossing turning path point of the vehicle according to the target zebra crossing.

[0012] Optionally, the navigation turning path point includes a navigation turning start point and a navigation turning end point, and the target zebra crossing includes an end target zebra crossing and a start target zebra crossing;

[0013] The determining a target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turning path point, and the obtained aerial coordinates of the zebra crossing includes:

[0014] Determine the corner coordinates of the four corner points of each zebra crossing according to the obtained bird's-eye coordinates of the zebra crossing;

[0015] Determine the end target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turning starting point, and the corner coordinates of each zebra crossing;

[0016] Determine the start target zebra crossing from the zebra crossings according to the navigation turning end point and the corner coordinates of each zebra crossing.

[0017] Optionally, the determining the end target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turning starting point, and the corner coordinates of each zebra crossing includes:

[0018] Establish a two-dimensional rectangular coordinate system with the navigation turning starting point as the origin to obtain a first coordinate system;

[0019] Determine a first target quadrant from the four quadrants of the first coordinate system according to the turning direction of the vehicle;

[0020] Determine the zebra crossing where the corner coordinates of all four corner points are in the first target quadrant as the end target zebra crossing.

[0021] Optionally, the determining the first target quadrant from the four quadrants of the first coordinate system according to the turning direction of the vehicle includes:

[0022] When the turning direction of the vehicle is a right turn, determine the first quadrant of the first coordinate system as the first target quadrant; or

[0023] When the turning direction of the vehicle is a left turn, determine the second quadrant of the first coordinate system as the first target quadrant.

[0024] Optionally, the determining the start target zebra crossing from the zebra crossings according to the navigation turning end point and the corner coordinates of each zebra crossing includes:

[0025] Establish a two-dimensional rectangular coordinate system with the navigation turning end point as the origin to obtain a second coordinate system;

[0026] Determine a second target quadrant in the quadrant where the Y coordinate in the second coordinate system is negative;

[0027] Determine the zebra crossing where the corner coordinates of all four corner points are in the second target quadrant as the start target zebra crossing.

[0028] Optionally, the zebra crossing turning path points include: a zebra crossing turning start point and a zebra crossing turning end point. Determining the zebra crossing turning path points of the vehicle according to the target zebra crossing includes:

[0029] Determining the preset value point in the length direction of the end target zebra crossing as the zebra crossing turning end point;

[0030] Determining the intersection point of the vehicle's orientation and the start target zebra crossing in the length direction as the zebra crossing turning start point.

[0031] Optionally, determining the target turning path point according to the lane line information of the road after the vehicle turns, the navigation turning path point, and the zebra crossing turning path point includes:

[0032] Determining the perceived turning end point according to the lane line information of the road after the vehicle turns;

[0033] Determining the target turning path point by weighted average according to the perceived turning end point, the navigation turning path point, and the zebra crossing turning path point, where the weight of the perceived turning end point is greater than the weight of the zebra crossing turning path point, and the weight of the zebra crossing turning path point is greater than the weight of the navigation turning path point.

[0034] Optionally, the target turning path point includes: a target turning end point and a target turning start point. Determining the target turning path point by weighted average according to the perceived turning end point, the navigation turning path point, and the zebra crossing turning path point includes:

[0035] Determining the target turning end point by weighted average according to the perceived turning end point, the navigation turning end point in the navigation turning path point, and the zebra crossing turning end point in the zebra crossing turning path point;

[0036] Determining the target turning start point by weighted average according to the navigation turning start point in the navigation turning path point and the zebra crossing turning start point in the zebra crossing turning path point.

[0037] Optionally, during the vehicle turning process, generating a turning reference line of the vehicle according to the target turning path point includes:

[0038] When the vehicle has not passed the target turning start point, generating a first turning reference line from the target turning start point to the target turning end point according to the target turning start point and the target turning end point;

[0039] When the vehicle has passed the starting point of the target turn, a second turn reference line from the current position of the vehicle to the target turn end point is generated based on the current position of the vehicle and the target turn end point.

[0040] Optionally, the determining the navigation turn path points of the vehicle in response to the vehicle turning includes:

[0041] In response to the vehicle turning, traversing the planned navigation points within a preset range in front of the vehicle, and determining the starting point of the navigation turn in the navigation turn path points as the first planned navigation point that satisfies a first preset condition; and

[0042] Determining the ending point of the navigation turn in the navigation turn path points as the first planned navigation point that satisfies a second preset condition;

[0043] Wherein, the first preset condition is that the vector angle between adjacent planned navigation points exceeds a preset angle, and the second preset condition is that it is behind the starting point of the navigation turn and the vector angle between adjacent planned navigation points is less than the preset angle.

[0044] According to a second aspect of the embodiments of the present disclosure, a turn reference line generation device is provided, including:

[0045] A first determination module configured to determine the navigation turn path points of the vehicle in response to the vehicle turning;

[0046] A second determination module configured to determine the zebra crossing turn path points of the vehicle according to the turning direction of the vehicle, the navigation turn path points, and the bird's-eye coordinates of the zebra crossing obtained;

[0047] A third determination module configured to determine the target turn path points according to the lane line information of the road after the vehicle turns, the navigation turn path points, and the zebra crossing turn path points;

[0048] A generation module configured to generate a turn reference line of the vehicle according to the target turn path points during the turning process of the vehicle.

[0049] Optionally, the second determination module is configured to:

[0050] Determine a target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turn path points, and the bird's-eye coordinates of the zebra crossing obtained;

[0051] Determine the zebra crossing turn path points of the vehicle according to the target zebra crossing.

[0052] Optionally, the navigation turning path points include a navigation turning start point and a navigation turning end point, and the target zebra crossings include an end target zebra crossing and a start target zebra crossing;

[0053] The second determination module is configured to:

[0054] Determine the corner coordinates of the four corner points of each zebra crossing according to the obtained bird's-eye coordinates of the zebra crossing;

[0055] Determine the end target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turning start point, and the corner coordinates of each zebra crossing;

[0056] Determine the start target zebra crossing from the zebra crossings according to the navigation turning end point and the corner coordinates of each zebra crossing.

[0057] Optionally, the second determination module is configured to:

[0058] Establish a two-dimensional rectangular coordinate system with the navigation turning start point as the origin to obtain a first coordinate system;

[0059] Determine a first target quadrant from the four quadrants of the first coordinate system according to the turning direction of the vehicle;

[0060] Determine the zebra crossing whose corner coordinates of the four corner points are all in the first target quadrant as the end target zebra crossing.

[0061] Optionally, the second determination module is configured to:

[0062] When the turning direction of the vehicle is a right turn, determine the first quadrant of the first coordinate system as the first target quadrant; or

[0063] When the turning direction of the vehicle is a left turn, determine the second quadrant of the first coordinate system as the first target quadrant.

[0064] Optionally, the second determination module is configured to:

[0065] Establish a two-dimensional rectangular coordinate system with the navigation turning end point as the origin to obtain a second coordinate system;

[0066] Determine a second target quadrant in the quadrant where the Y coordinate is negative in the second coordinate system;

[0067] Determine the zebra crossing whose corner coordinates of the four corner points are all in the second target quadrant as the start target zebra crossing.

[0068] Optionally, the zebra crossing turning path points include: a zebra crossing turning start point and a zebra crossing turning end point, and the second determination module is configured to:

[0069] Determine a preset value point in the length direction of the end target zebra crossing as the zebra crossing turning end point;

[0070] Determine the intersection point of the vehicle's orientation and the start target zebra crossing in the length direction as the zebra crossing turning start point.

[0071] Optionally, the third determination module is configured to:

[0072] Determine a sensed turning end point according to the lane line information of the road after the vehicle turns;

[0073] Determine the target turning path point by weighted average according to the sensed turning end point, the navigation turning path point and the zebra crossing turning path point, where the weight of the sensed turning end point is greater than the weight of the zebra crossing turning path point, and the weight of the zebra crossing turning path point is greater than the weight of the navigation turning path point.

[0074] Optionally, the target turning path point includes: a target turning end point and a target turning start point, and the third determination module is configured to:

[0075] Determine the target turning end point by weighted average according to the sensed turning end point, the navigation turning end point in the navigation turning path point and the zebra crossing turning end point in the zebra crossing turning path point;

[0076] Determine the target turning start point by weighted average according to the navigation turning start point in the navigation turning path point and the zebra crossing turning start point in the zebra crossing turning path point.

[0077] Optionally, the generation module is configured to:

[0078] In the case where the vehicle has not traveled through the target turning start point, generate a first turning reference line from the target turning start point to the target turning end point according to the target turning start point and the target turning end point;

[0079] In the case where the vehicle has traveled through the target turning start point, generate a second turning reference line from the current position of the vehicle to the target turning end point according to the current position of the vehicle and the target turning end point.

[0080] Optionally, the first determination module is configured to:

[0081] In response to the vehicle turning, traverse the planned navigation points within a preset range in front of the vehicle, and determine the first planned navigation point that meets the first preset condition as the navigation turning start point among the navigation turning path points; and

[0082] Determine the first planned navigation point that meets the second preset condition as the navigation turning end point among the navigation turning path points;

[0083] Wherein, the first preset condition is that the vector angle between adjacent planned navigation points exceeds a preset angle, and the second preset condition is that it is after the navigation turning start point and the vector angle between adjacent planned navigation points is less than the preset angle.

[0084] According to a third aspect of the embodiments of the present disclosure, a vehicle is provided, including:

[0085] A processor;

[0086] A memory for storing processor-executable instructions;

[0087] Wherein, the processor is configured to execute the executable instructions stored in the memory to implement the method according to any one of the first aspects.

[0088] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the method according to any one of the first aspects are implemented.

[0089] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0090] According to the turning direction of the vehicle, the navigation turning path points, and the obtained bird's-eye coordinates of the zebra crossing, determine the zebra crossing turning path points of the vehicle; according to the lane line information of the road after the vehicle turns, the navigation turning path points, and the zebra crossing turning path points, determine the target turning path points; during the vehicle turning process, generate a turning reference line of the vehicle according to the target turning path points. In this way, by comprehensively considering lane selection and reference line generation based on navigation, zebra crossings, and real-time perceived lane line information, etc., a turning reference line in a turning scenario can be generated, which can improve the vehicle turning success rate, reduce the phenomenon of snake-like driving during the vehicle turning process, and improve driving comfort.

[0091] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] The accompanying drawings herein are incorporated into 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.

[0093] Figure 1 is a flowchart of a method for generating a turning reference line shown according to an exemplary embodiment.

[0094] Figure 2 is a schematic diagram of a navigation turning path point shown according to an exemplary embodiment.

[0095] Figure 3 is an implementation shown according to an exemplary embodiment Figure 1 of the flowchart of step S12 in

[0096] Figure 4 is a schematic diagram of determining a target zebra crossing shown according to an exemplary embodiment.

[0097] Figure 5 is an implementation shown according to an exemplary embodiment Figure 3 of the flowchart of step S121 in

[0098] Figure 6 is an implementation shown according to an exemplary embodiment Figure 1 of the flowchart of step S13 in

[0099] Figure 7 is a schematic diagram of a turning reference line shown according to an exemplary embodiment.

[0100] Figure 8 is a block diagram of a turning reference line generation device shown according to an exemplary embodiment.

[0101] Figure 9 is a schematic diagram of a functional block diagram of a vehicle shown according to an exemplary embodiment. Detailed Description of the Invention

[0102] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0103] It should be noted that all actions of obtaining signals, information, or data in this application are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where it is located and obtaining authorization from the owner of the corresponding device.

[0104] Figure 1 is a flowchart of a turning reference line generation method shown according to an exemplary embodiment, as Figure 1 shown, the turning reference line generation method includes the following steps.

[0105] In step S11, in response to a vehicle turning, determine the navigation turning path points of the vehicle.

[0106] In the embodiments of the present disclosure, the navigation points are generated according to the lanes in front of the vehicle. Refer to Figure 2 shown, when the vehicle travels to the arrow position, all navigation points within a preset range in front can be traversed according to the current position of the vehicle. Among them, all navigation points can include at least one of straight navigation points, left-turn navigation points, and right-turn navigation points. Then select the navigation turning path points from all navigation points.

[0107] In the embodiments of the present disclosure, the vehicle turning can be determined according to the lane in which the vehicle travels and the current turn signal state of the vehicle. For example, when the lane in which the vehicle travels is a right-turn lane and the current turn signal state of the vehicle is that the right turn signal is on, it can be determined that the vehicle has a right turn, so that the navigation turning path points for a right turn can be determined; for another example, when the lane in which the vehicle travels is a left-turn lane and the current turn signal state of the vehicle is that the left turn signal is on, it can be determined that the vehicle has a left turn, so that the navigation turning path points for a left turn can be determined.

[0108] In the embodiments of the present disclosure, the navigation turning path points may only include a navigation turning start point and a navigation turning end point, or may further include other turning path points on the basis of including a navigation turning start point and a navigation turning end point.

[0109] In the embodiments of the present disclosure, if there is a position deviation between the navigation turning start point in the navigation turning path points and the lane in which the vehicle is currently traveling, the navigation turning start point can be projected into the lane in which the vehicle is currently traveling to obtain a new navigation turning start point.

[0110] In step S12, according to the turning direction of the vehicle, the navigation turning path points, and the bird's-eye coordinates of the zebra crossing obtained, determine the zebra crossing turning path points of the vehicle.

[0111] Among them, the navigation turning end point determined according to the turning path points cannot guarantee to fall within the lane in the desired driving direction. Therefore, the navigation turning path points can be compensated and corrected by combining the output of the BEV (Bird's Eye View) of the zebra crossing. Among them, the bird's-eye coordinates of the zebra crossing can be recognized by the vehicle itself within a preset range from the intersection, which can play an important role in estimating the intersection scale and lane position as early as possible.

[0112] In the embodiments of the present disclosure, the bird's-eye coordinates of the zebra crossing can be sent by an on-vehicle device or a server upstream to the vehicle.

[0113] In the embodiments of the present disclosure, the turning path points of the zebra crossing may also only include the starting point and the ending point of the zebra crossing turn. Similarly, on the basis of including the starting point and the ending point of the zebra crossing turn, other turning path points of the zebra crossing may also be included.

[0114] In step S13, according to the lane line information of the road after the vehicle turns, the navigation turning path points, and the turning path points of the zebra crossing, the target turning path points are determined.

[0115] In the embodiments of the present disclosure, after adjusting the navigation turning path points through the zebra crossing, the vehicle can complete the turn into the same-direction lane, but it cannot ensure that the vehicle drives into the center of the lane. Although the on-vehicle recognition device of the vehicle recognizes the lane line information near the navigation turning end point later than the zebra crossing, it can provide a more reliable basis for lane selection.

[0116] In the embodiments of the present disclosure, the lane line information of the road after the vehicle turns may include the number of lanes and the lane types of the road after the vehicle turns. For example, the number of lanes can be determined according to the number of virtual and solid lane lines, and the lane types can be determined according to the color of the lane lines, the speed limit lane signs in the lane, etc.

[0117] In the embodiments of the present disclosure, in the case where the lane line information of the road after the vehicle turns is not sensed, the target turning path points can be determined first according to the navigation turning path points and the turning path points of the zebra crossing. During the continuous turning process of the vehicle, if the lane line information of the road after the vehicle turns is sensed, the target turning path points are re-determined according to the lane line information of the road after the vehicle turns, the navigation turning path points, and the turning path points of the zebra crossing.

[0118] In step S14, during the turning process of the vehicle, according to the target turning path points, a turning reference line of the vehicle is generated.

[0119] In the embodiments of the present disclosure, during the turning process of the vehicle, in the case where the vehicle has not passed the target turning starting point among the target turning path points, a turning trajectory can be generated according to the target turning path points by using a third-order Bezier curve, and the turning trajectory is spliced with the original reference line before turning to generate the turning reference line of the vehicle.

[0120] After the vehicle passes the target turning starting point among the target turning path points, starting from the current position of the vehicle itself, a third-order Bezier curve is generated according to the remaining target turning path points. During this process, once the lane lines of the lane after turning are sensed, the navigation turning end point, the zebra crossing turning end point can be fused with the sensed lane end point, and the target turning end point of the vehicle is updated to the lane end point. Starting from the vehicle's position can ensure that the turning reference line is always under the vehicle, thus avoiding the jumping of the turning reference line and resulting in the failure of subsequent turning reference line planning.

[0121] The above technical solution determines the zebra crossing turning path point of the vehicle according to the turning direction of the vehicle, the navigation turning path point, and the bird's-eye coordinates of the obtained zebra crossing; determines the target turning path point according to the lane line information of the road after the vehicle turns, the navigation turning path point, and the zebra crossing turning path point; and generates the turning reference line of the vehicle according to the target turning path point during the turning process of the vehicle. In this way, the turning reference line in the turning scenario can be generated by comprehensively considering lane selection and reference line generation based on navigation, zebra crossing, and real-time sensed lane line information, etc., which can improve the success rate of vehicle turning, reduce the snake-like phenomenon during vehicle turning, and improve driving comfort.

[0122] Optionally, as shown in Figure 3 In step S12, the determining the zebra crossing turning path point of the vehicle according to the turning direction of the vehicle, the navigation turning path point, and the bird's-eye coordinates of the obtained zebra crossing includes:

[0123] In step S121, a target zebra crossing is determined from the zebra crossing according to the turning direction of the vehicle, the navigation turning path point, and the bird's-eye coordinates of the obtained zebra crossing.

[0124] In the embodiment of the present disclosure, as shown in Figure 4 When the turning direction of the vehicle is a right turn, the right zebra crossing and the lower zebra crossing are determined as the target zebra crossing from the zebra crossing according to the navigation turning path point and the bird's-eye coordinates of the obtained zebra crossing; when the turning direction of the vehicle is a left turn, the left zebra crossing and the lower zebra crossing are determined as the target zebra crossing from the zebra crossing according to the navigation turning path point and the bird's-eye coordinates of the obtained zebra crossing.

[0125] In step S122, the zebra crossing turning path point of the vehicle is determined according to the target zebra crossing.

[0126] In the embodiments of the present disclosure, in the case where the target zebra crossing is the zebra crossing on the right and the zebra crossing below, the zebra crossing turning end point in the zebra crossing turning path points of the vehicle can be determined according to the zebra crossing on the right, and the zebra crossing turning start point in the zebra crossing turning path points of the vehicle can be determined according to the zebra crossing below; similarly, in the case where the target zebra crossing is the zebra crossing on the left and the zebra crossing below, the zebra crossing turning end point in the zebra crossing turning path points of the vehicle can be determined according to the zebra crossing on the left, and the zebra crossing turning start point in the zebra crossing turning path points of the vehicle can be determined according to the zebra crossing below.

[0127] In the above technical solution, the zebra crossing turning path points can be determined according to the bird's-eye coordinates of the zebra crossing, and then the navigation turning path points can be fused, so as to ensure that the turning end point falls within the lane in the expected driving direction and will not drive into the oncoming lane. It is avoided that the vehicle turns and drives into the oncoming lane and then suddenly turns the steering wheel, and it is avoided that the vehicle zigzags.

[0128] Optionally, the navigation turning path points include: a navigation turning start point and a navigation turning end point, and the target zebra crossing includes: an end target zebra crossing and a start target zebra crossing;

[0129] See Figure 5 As shown, in step S121, the determining of the target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turning path points, and the obtained bird's-eye coordinates of the zebra crossing includes:

[0130] In step S1211, according to the obtained bird's-eye coordinates of the zebra crossing, the corner coordinates of the four corner points of each zebra crossing are determined.

[0131] In the embodiments of the present disclosure, the corner coordinates of the four corners can be determined according to the bird's-eye coordinates of the zebra crossing, and the connection of the corner coordinates of the four corner points can represent the geometric shape of the zebra crossing. For example, a rectangular zebra crossing, a parallelogram zebra crossing. Furthermore, the relative classification of the zebra crossing can be determined according to the corner coordinates of the zebra crossing.

[0132] For example, the zebra crossings on both sides of the vehicle can be divided into a left zebra crossing and a right zebra crossing, and the zebra crossings can be divided into an upper zebra crossing and a lower zebra crossing, where the lower zebra crossing is the zebra crossing close to the current position of the vehicle, and the upper zebra crossing is the zebra crossing farther from the current position of the vehicle compared to the lower zebra crossing.

[0133] In step S1212, the end target zebra crossing is determined from the zebra crossings according to the turning direction of the vehicle, the navigation turning start point, and the corner coordinates of each zebra crossing.

[0134] In the embodiments of the present disclosure, the end target zebra crossing can be determined from the left zebra crossing and the right zebra crossing according to the turning direction of the vehicle. For example, when the turning direction of the vehicle is a left turn, the left zebra crossing is determined as the end target zebra crossing; when the turning direction of the vehicle is a right turn, the right zebra crossing is determined as the end target zebra crossing.

[0135] In step S1213, the start target zebra crossing is determined from the zebra crossings according to the navigation turning end point and the corner coordinates of each zebra crossing.

[0136] In the embodiments of the present disclosure, usually according to the navigation turning end point and the corner coordinates of the zebra crossing, the lower zebra crossing closer to the vehicle is determined as the start target zebra crossing. For example, if the corner coordinates of the zebra crossing are all less than the coordinates of the navigation turning end point, then this zebra crossing is the lower zebra crossing closer to the vehicle. If the corner coordinates of the zebra crossing are not all less than the coordinates of the navigation turning end point, then this zebra crossing is the upper zebra crossing, the left zebra crossing or the right zebra crossing.

[0137] Optionally, in step S1212, the determining the end target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turning start point and the corner coordinates of each zebra crossing includes:

[0138] A two-dimensional rectangular coordinate system is established with the navigation turning start point as the origin to obtain a first coordinate system.

[0139] A two-dimensional rectangular coordinate system is established with the navigation turning start point as the origin, the right direction as the positive direction of the X-axis, and the upward direction as the positive direction of the Y-axis to obtain a first coordinate system.

[0140] According to the turning direction of the vehicle, a first target quadrant is determined from the four quadrants of the first coordinate system.

[0141] In the embodiments of the present disclosure, a target quadrant is preset for each different turning direction. For example, the first quadrant is preset for a right turn, and the second quadrant is preset for a left turn.

[0142] The zebra crossing whose corner coordinates of all four corners are in the first target quadrant is determined as the end target zebra crossing.

[0143] In the embodiments of the present disclosure, if the corner coordinates of all four corners of the zebra crossing are in the first target quadrant, then this zebra crossing is the end target zebra crossing; if the corner coordinates of all four corners of the zebra crossing are not all or all not in the first target quadrant, then this zebra crossing is not the end target zebra crossing.

[0144] Optionally, the determining the first target quadrant from the four quadrants of the first coordinate system according to the turning direction of the vehicle includes:

[0145] When the turning direction of the vehicle is a right turn, the first quadrant of the first coordinate system is determined as the first target quadrant.

[0146] In the embodiments of the present disclosure, when the turning direction of the vehicle is a right turn, if the corner coordinates of the four corner points of the zebra crossing are all in the first quadrant of the first coordinate system, then this zebra crossing is the end target zebra crossing; if the corner coordinates of the four corner points of the zebra crossing are not all or not at all in the first quadrant of the first coordinate system, then this zebra crossing is not the end target zebra crossing.

[0147] When the turning direction of the vehicle is a left turn, the second quadrant of the first coordinate system is determined as the first target quadrant.

[0148] Similarly, when the turning direction of the vehicle is a left turn, if the corner coordinates of the four corner points of the zebra crossing are all in the second quadrant of the first coordinate system, then this zebra crossing is the end target zebra crossing; if the corner coordinates of the four corner points of the zebra crossing are not all or not at all in the second quadrant of the first coordinate system, then this zebra crossing is not the end target zebra crossing.

[0149] Optionally, in step S1213, the determining the starting target zebra crossing from the zebra crossings according to the navigation turning end point and the corner coordinates of each zebra crossing includes:

[0150] Establish a two-dimensional rectangular coordinate system with the navigation turning end point as the origin to obtain a second coordinate system.

[0151] Establish a two-dimensional rectangular coordinate system with the navigation turning end point as the origin, the right direction as the positive direction of the X-axis, and the upward direction as the positive direction of the Y-axis to obtain a second coordinate system.

[0152] Determine a second target quadrant in the quadrant where the Y coordinate in the second coordinate system is negative.

[0153] In the embodiments of the present disclosure, since the Y coordinates of the third quadrant and the fourth quadrant are both negative, the third quadrant and the fourth quadrant in the second coordinate system are determined as the second target quadrant.

[0154] Determine the zebra crossing whose corner coordinates of the four corner points are all in the second target quadrant as the starting target zebra crossing.

[0155] In the embodiments of the present disclosure, if the corner coordinates of the four corner points of the zebra crossing are all in the second target quadrant, then this zebra crossing is the starting target zebra crossing; if the corner coordinates of the four corner points of the zebra crossing are not all or not at all in the second target quadrant, then this zebra crossing is not the starting target zebra crossing.

[0156] Optionally, the zebra crossing turning path points include: a zebra crossing turning start point and a zebra crossing turning end point. In step S122, determining the zebra crossing turning path points of the vehicle according to the target zebra crossing includes:

[0157] Determining a preset value point in the length direction of the end target zebra crossing as the zebra crossing turning end point.

[0158] In the embodiments of the present disclosure, the length direction of the end target zebra crossing can also be understood as the direction perpendicular to the lane line after the vehicle turns.

[0159] In the embodiments of the present disclosure, referring to Figure 4 as shown, when the turning direction of the vehicle is a right turn, determining a preset value point that is 3 / 8 of the length of the right end target zebra crossing shown in Figure 4 and close to the start target zebra crossing in the length direction as the zebra crossing turning end point. Similarly, when the turning direction of the vehicle is a left turn, determining a preset value point that is 3 / 8 of the length of the left end target zebra crossing shown in Figure 4 and close to the upper zebra crossing in the length direction as the zebra crossing turning end point.

[0160] Determining the intersection point of the vehicle's orientation and the start target zebra crossing in the length direction as the zebra crossing turning start point.

[0161] In the embodiments of the present disclosure, the intersection point of the connection line between the two corner points with the farthest or nearest Y-axis coordinate in the start target zebra crossing and the extension line of the vehicle's orientation can be determined as the zebra crossing turning start point.

[0162] Optionally, referring to Figure 6 as shown, in step S13, determining the target turning path points according to the lane line information of the road after the vehicle turns, the navigation turning path points, and the zebra crossing turning path points includes:

[0163] In step S131, determining a sensed turning end point according to the lane line information of the road after the vehicle turns;

[0164] In the embodiments of the present disclosure, according to the lane line color, lane traffic restriction signs, etc. in the lane line information of the road after the vehicle turns, the target lane after the vehicle turns is determined, and the midpoint of this target lane is determined as the sensed turning end point. The lane midpoint can be the midpoint between the two lane lines of the target lane. And since the vehicle senses the lane line information through sensing devices such as on-vehicle radars, the coordinates of the starting point clouds of these two sensed lane lines can be used to calculate the lane midpoint.

[0165] In step S132, the target turning path point is determined by weighted average according to the sensed turning end point, the navigation turning path point, and the zebra crossing turning path point.

[0166] Among them, the weight of the sensed turning end point is greater than the weight of the zebra crossing turning path point, and the weight of the zebra crossing turning path point is greater than the weight of the navigation turning path point.

[0167] In the embodiments of the present disclosure, when the sensed turning end point is sensed, the weight of the sensed turning end point can be much greater than the weight of the zebra crossing turning path point, and the weight of the zebra crossing turning path point is slightly greater than the weight of the navigation turning path point, so that when the sensed turning end point is sensed, the sensed turning end point is taken as the standard, and finally the vehicle can drive into the target lane. For example, the weight of the sensed turning end point is 995, the weight of the zebra crossing turning path point is 4, and the weight of the navigation turning path point is 1.

[0168] Optionally, the target turning path point includes: a target turning end point and a target turning start point. In step S132, the determining of the target turning path point by weighted average according to the sensed turning end point, the navigation turning path point, and the zebra crossing turning path point includes:

[0169] The target turning end point is determined by weighted average according to the navigation turning end point in the navigation turning path point, the zebra crossing turning end point in the zebra crossing turning path point, and the sensed turning end point.

[0170] In the embodiments of the present disclosure, after the vehicle turns, it is determined whether the vehicle recognizes the sensed turning end point. If the vehicle does not recognize the sensed turning end point, the target turning end point is determined by weighted average according to the navigation turning end point in the navigation turning path point and the zebra crossing turning end point in the zebra crossing turning path point; if the vehicle recognizes the sensed turning end point, the target turning end point is determined by weighted average according to the sensed turning end point, the navigation turning end point in the navigation turning path point, and the zebra crossing turning end point in the zebra crossing turning path point.

[0171] The target turning start point is determined by weighted average according to the navigation turning start point in the navigation turning path point and the zebra crossing turning start point in the zebra crossing turning path point.

[0172] Similarly, before the vehicle itself passes the navigation turning start point or the zebra crossing turning start point, the weighted average navigation turning start point and zebra crossing turning start point are used as the standard, and a turning trajectory is generated using a third-order Bezier curve and spliced with the original reference line before turning to enable the vehicle to smoothly enter the turn.

[0173] Optionally, in step S14, generating a turning reference line for the vehicle according to the target turning path point during the turning process of the vehicle includes:

[0174] In the case where the vehicle has not passed through the target turning starting point, a first turning reference line from the target turning starting point to the target turning ending point is generated according to the target turning starting point and the target turning ending point.

[0175] In an embodiment of the present disclosure, in the case where the vehicle has not passed through the target turning starting point, lane line information of the road after the vehicle turns is usually not sensed yet. Therefore, the target turning ending point is determined by weighted averaging according to the navigation turning ending point and the zebra crossing turning ending point.

[0176] See Figure 7 As shown, in the case where the vehicle has passed through the target turning starting point, a second turning reference line from the current position of the vehicle to the target turning ending point is generated according to the current position of the vehicle and the target turning ending point.

[0177] In the case where the vehicle has not passed through the target turning starting point, planning a turning reference line from the vehicle's own position to the target turning starting point can ensure that the turning reference line is always under the vehicle's own feet, avoid planning failure caused by the jumping of the turning reference line, and at the same time limit the starting heading, ensuring the continuity of the vehicle's steering and enabling the vehicle to smoothly enter the target lane along the turning reference line.

[0178] Optionally, in step S11, determining the navigation turning path point of the vehicle in response to the vehicle turning includes:

[0179] In response to the vehicle turning, traversing the planned navigation points within a preset range in front of the vehicle, and determining the first planned navigation point that meets the first preset condition as the navigation turning starting point in the navigation turning path point;

[0180] Determining the first planned navigation point that meets the second preset condition as the navigation turning ending point in the navigation turning path point;

[0181] Wherein, the first preset condition is that the vector angle between adjacent planned navigation points exceeds a preset angle, and the second preset condition is that it is behind the navigation turning starting point and the vector angle between adjacent planned navigation points is less than the preset angle.

[0182] In the embodiments of the present disclosure, the preset angle may be 45 degrees. Therefore, a vector can be constructed based on the vehicle's front end and the planned navigation point, and then the included angle between the vector of the planned navigation point and the vector of the adjacent planned navigation point can be calculated. The planned navigation point at which the vehicle's heading change exceeds 45 degrees for the first time can be determined as the navigation turning start point. The planned navigation point at which the first vector included angle exceeds 45 degrees can indicate that the vehicle's steering changes significantly at this time. After the navigation turning start point, the planned navigation point at which the vehicle's heading change does not exceed 45 degrees for the first time is determined as the navigation turning end point. After the navigation turning start point, the planned navigation point at which the first vector included angle does not exceed 45 degrees indicates that the vehicle's steering tends to be stable at this time.

[0183] The embodiments of the present disclosure further provide a turning reference line generation device. Refer to Figure 8 As shown, the turning reference line generation device includes: a first determination module 810, a second determination module 820, a third determination module 830, and a generation module 840.

[0184] The first determination module 810 is configured to determine the navigation turning path points of the vehicle in response to the vehicle turning.

[0185] The second determination module 820 is configured to determine the zebra crossing turning path points of the vehicle according to the turning direction of the vehicle, the navigation turning path points, and the bird's-eye coordinates of the zebra crossing obtained.

[0186] The third determination module 830 is configured to determine the target turning path points according to the lane line information of the road after the vehicle turns, the navigation turning path points, and the zebra crossing turning path points.

[0187] The generation module 840 is configured to generate the turning reference line of the vehicle according to the target turning path points during the turning process of the vehicle.

[0188] Optionally, the second determination module 820 is configured to:

[0189] Determine the target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turning path points, and the bird's-eye coordinates of the zebra crossing obtained;

[0190] Determine the zebra crossing turning path points of the vehicle according to the target zebra crossing.

[0191] Optionally, the navigation turning path points include: a navigation turning start point and a navigation turning end point, and the target zebra crossings include: an end target zebra crossing and a start target zebra crossing;

[0192] The second determination module 820 is configured to:

[0193] Determine the corner coordinates of the four corner points of each zebra crossing according to the obtained bird's-eye coordinates of the zebra crossing;

[0194] Determine the end target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turning starting point, and the corner coordinates of each zebra crossing;

[0195] Determine the start target zebra crossing from the zebra crossings according to the navigation turning end point and the corner coordinates of each zebra crossing.

[0196] Optionally, the second determination module 820 is configured to:

[0197] Establish a two-dimensional rectangular coordinate system with the navigation turning starting point as the origin to obtain a first coordinate system;

[0198] Determine a first target quadrant from the four quadrants of the first coordinate system according to the turning direction of the vehicle;

[0199] Determine the zebra crossing where the corner coordinates of the four corner points are all in the first target quadrant as the end target zebra crossing.

[0200] Optionally, the second determination module 820 is configured to:

[0201] When the turning direction of the vehicle is a right turn, determine the first quadrant of the first coordinate system as the first target quadrant;

[0202] When the turning direction of the vehicle is a left turn, determine the second quadrant of the first coordinate system as the first target quadrant.

[0203] Optionally, the second determination module 820 is configured to:

[0204] Establish a two-dimensional rectangular coordinate system with the navigation turning end point as the origin to obtain a second coordinate system;

[0205] Determine a second target quadrant in the quadrant where the Y coordinate in the second coordinate system is negative;

[0206] Determine the zebra crossing where the corner coordinates of the four corner points are all in the second target quadrant as the start target zebra crossing.

[0207] Optionally, the zebra crossing turning path points include: a zebra crossing turning starting point and a zebra crossing turning end point, and the second determination module 820 is configured to:

[0208] Determine a preset value point in the length direction of the end target zebra crossing as the zebra crossing turning end point;

[0209] Determine the intersection point of the orientation of the vehicle and the starting point target zebra crossing in the length direction as the starting point of the zebra crossing turn.

[0210] Optionally, the third determination module 830 is configured to:

[0211] Determine a sensed turning end point according to the lane line information of the road after the vehicle turns;

[0212] Determine the target turning path point by weighted average according to the sensed turning end point, the navigation turning path point and the zebra crossing turning path point, wherein the weight of the sensed turning end point is greater than the weight of the zebra crossing turning path point, and the weight of the zebra crossing turning path point is greater than the weight of the navigation turning path point.

[0213] Optionally, the target turning path point includes a target turning end point and a target turning starting point, and the third determination module 830 is configured to:

[0214] Determine the target turning end point by weighted average according to the sensed turning end point, the navigation turning end point in the navigation turning path point and the zebra crossing turning end point in the zebra crossing turning path point;

[0215] Determine the target turning starting point by weighted average according to the navigation turning starting point in the navigation turning path point and the zebra crossing turning starting point in the zebra crossing turning path point.

[0216] Optionally, the generation module 840 is configured to:

[0217] When the vehicle has not passed the target turning starting point, generate a first turning reference line from the target turning starting point to the target turning end point according to the target turning starting point and the target turning end point;

[0218] When the vehicle has passed the target turning starting point, generate a second turning reference line from the current position of the vehicle to the target turning end point according to the current position of the vehicle and the target turning end point.

[0219] Optionally, the first determination module 810 is configured to:

[0220] In response to the vehicle turning, traverse the planned navigation points within a preset range in front of the vehicle, and determine the navigation turning starting point in the navigation turning path point as the first planned navigation point that meets the first preset condition;

[0221] Determine the navigation turning end point in the navigation turning path point as the first planned navigation point that meets the second preset condition;

[0222] Wherein, the first preset condition is that the vector angle between adjacent planned navigation points exceeds a preset angle, and the second preset condition is that after the navigation turning starting point and the vector angle between adjacent planned navigation points is less than the preset angle.

[0223] Regarding the device in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0224] Embodiments of the present disclosure further provide a vehicle, including:

[0225] A processor;

[0226] A memory for storing processor-executable instructions;

[0227] Wherein, the processor is configured to execute the executable instructions stored in the memory to implement the method according to any one of the foregoing embodiments.

[0228] Embodiments of the present disclosure further provide a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the method according to any one of the foregoing embodiments are implemented.

[0229] Figure 9 It is a block diagram of a vehicle 600 shown according to an exemplary embodiment. For example, the vehicle 600 can be a hybrid vehicle, or a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 600 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0230] Refer to Figure 9 , the vehicle 600 may include various subsystems. For example, an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Among them, the vehicle 600 may further include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 600 can be interconnected by wired or wireless means.

[0231] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, etc.

[0232] The perception system 620 may include several types of sensors for sensing information about the environment around the vehicle 600. For example, lane line information in the embodiments of the present disclosure. The perception system 620 may include a global positioning system (the global positioning system may be a GPS system, a Beidou system, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter wave radar, ultrasonic radar, and a camera device.

[0233] The decision-making and control system 630 may include a computing system, a vehicle controller, a steering system, an accelerator, and a braking system.

[0234] The drive system 640 may include components that provide powered movement for the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a powertrain, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine can convert the energy provided by the energy source into mechanical energy.

[0235] Some or all functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one processor 651 and a memory 652, and the processor 651 may execute instructions 653 stored in the memory 652.

[0236] The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0237] The memory 652 may 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, a magnetic disk, or an optical disk.

[0238] In addition to the instructions 653, the memory 652 may also store data, such as road maps, route information, data on the position, direction, speed, etc. of the vehicle. The data stored in the memory 652 can be used by the computing platform 650.

[0239] In an embodiment of the present disclosure, the processor 651 may execute the instruction 653 to complete all or part of the steps of the above-mentioned turning reference line generation method, and further control the vehicle to turn according to the turning reference line.

[0240] After considering the specification and practicing the present disclosure, those skilled in the art will readily conceive of other embodiments of the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include well-known knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0241] It should be understood that the present disclosure is not limited to the exact structures already described 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 turning reference line, characterized in that, Including: In response to a vehicle turning, determining the navigation turning path points of the vehicle; Determining the zebra crossing turning path points of the vehicle according to the turning direction of the vehicle, the navigation turning path points, and the bird's-eye coordinates of the obtained zebra crossing; Determining the target turning path points according to the lane line information of the road after the vehicle turns, the navigation turning path points, and the zebra crossing turning path points; During the turning process of the vehicle, generating a turning reference line for the vehicle according to the target turning path points.

2. The method according to claim 1, wherein The determining the zebra crossing turning path points of the vehicle according to the turning direction of the vehicle, the navigation turning path points, and the bird's-eye coordinates of the obtained zebra crossing includes: Determining a target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turning path points, and the bird's-eye coordinates of the obtained zebra crossing; Determining the zebra crossing turning path points of the vehicle according to the target zebra crossing.

3. The method according to claim 2, wherein The navigation turning path points include a navigation turning start point and a navigation turning end point, and the target zebra crossing includes an end target zebra crossing and a start target zebra crossing; The determining a target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turning path points, and the bird's-eye coordinates of the obtained zebra crossing includes: Determining the corner coordinates of the four corner points of each zebra crossing according to the obtained bird's-eye coordinates of the zebra crossing; Determining the end target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turning start point, and the corner coordinates of each zebra crossing; Determining the start target zebra crossing from the zebra crossings according to the navigation turning end point and the corner coordinates of each zebra crossing.

4. The method according to claim 3, characterized in that, The determining the end target zebra crossing from the zebra crossings according to the turning direction of the vehicle, the navigation turning start point, and the corner coordinates of each zebra crossing includes: Establishing a two-dimensional rectangular coordinate system with the navigation turning start point as the origin to obtain a first coordinate system; Determining a first target quadrant from the four quadrants of the first coordinate system according to the turning direction of the vehicle; Determining the zebra crossing with the corner coordinates of the four corner points all in the first target quadrant as the end target zebra crossing.

5. The method according to claim 4, wherein The determining a first target quadrant from the four quadrants of the first coordinate system according to the turning direction of the vehicle includes: When the turning direction of the vehicle is a right turn, determining the first quadrant of the first coordinate system as the first target quadrant; or When the turning direction of the vehicle is a left turn, determining the second quadrant of the first coordinate system as the first target quadrant.

6. The method according to claim 3, wherein The determining the start target zebra crossing from the zebra crossings according to the navigation turning end point and the corner coordinates of each zebra crossing includes: Establishing a two-dimensional rectangular coordinate system with the navigation turning end point as the origin to obtain a second coordinate system; Determining a second target quadrant in the quadrant where the Y coordinate in the second coordinate system is negative; Determining the zebra crossing with the corner coordinates of the four corner points all in the second target quadrant as the start target zebra crossing.

7. The method according to claim 3, wherein The zebra crossing turning path points include: a zebra crossing turning start point and a zebra crossing turning end point. Determining the zebra crossing turning path points of the vehicle according to the target zebra crossing includes: Determining the preset value point in the length direction of the end target zebra crossing as the zebra crossing turning end point; Determining the intersection point of the vehicle's orientation and the start target zebra crossing in the length direction as the zebra crossing turning start point.

8. The method according to any one of claims 1-7, characterized in that Determining the target turning path point according to the lane line information of the road after the vehicle turns, the navigation turning path point, and the zebra crossing turning path point includes: Determining the perceived turning end point according to the lane line information of the road after the vehicle turns; Determining the target turning path point by weighted average according to the perceived turning end point, the navigation turning path point, and the zebra crossing turning path point, where the weight of the perceived turning end point is greater than the weight of the zebra crossing turning path point, and the weight of the zebra crossing turning path point is greater than the weight of the navigation turning path point.

9. The method according to claim 8, wherein The target turning path point includes: a target turning end point and a target turning start point. Determining the target turning path point by weighted average according to the perceived turning end point, the navigation turning path point, and the zebra crossing turning path point includes: Determining the target turning end point by weighted average according to the perceived turning end point, the navigation turning end point in the navigation turning path point, and the zebra crossing turning end point in the zebra crossing turning path point; Determining the target turning start point by weighted average according to the navigation turning start point in the navigation turning path point and the zebra crossing turning start point in the zebra crossing turning path point.

10. The method according to claim 9, wherein Generating a turning reference line of the vehicle according to the target turning path point during the vehicle turning process includes: When the vehicle has not passed the target turning start point, generating a first turning reference line from the target turning start point to the target turning end point according to the target turning start point and the target turning end point; When the vehicle has passed the target turning start point, generating a second turning reference line from the current position of the vehicle to the target turning end point according to the current position of the vehicle and the target turning end point.

11. The method according to any one of claims 1-7, characterized in that, Determining the navigation turning path point of the vehicle in response to the vehicle turning includes: In response to the vehicle turning, traversing the planned navigation points within a preset range in front of the vehicle, and determining the first planned navigation point that meets the first preset condition as the navigation turning start point in the navigation turning path point; and Determining the first planned navigation point that meets the second preset condition as the navigation turning end point in the navigation turning path point; where the first preset condition is that the vector angle between adjacent planned navigation points exceeds a preset angle, and the second preset condition is that it is behind the navigation turning start point and the vector angle between adjacent planned navigation points is less than the preset angle.

12. A turning reference line generation device, characterized in that, Including: A first determination module configured to determine the navigation turning path point of the vehicle in response to the vehicle turning; A second determination module, configured to determine a zebra crossing turning path point of the vehicle according to a turning direction of the vehicle, the navigation turning path point, and the obtained bird's-eye coordinates of the zebra crossing; A third determination module, configured to determine a target turning path point according to lane line information of a road after the vehicle turns, the navigation turning path point, and the zebra crossing turning path point; A generation module, configured to generate a turning reference line of the vehicle according to the target turning path point during the turning process of the vehicle.

13. A vehicle, characterized in that, Comprising: A processor; A memory for storing executable instructions executable by the processor; Wherein, the processor is configured to execute the executable instructions stored in the memory to implement the method according to any one of claims 1-11.

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

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