Lane center line connection method and device, equipment, storage medium and product

Abstract

The invention relates to a lane center line connecting method and device, equipment, a storage medium and a product. The method comprises the following steps: acquiring a first lane surface and a second lane surface covered by a driving track in a preset intersection; wherein the driving track covers partial areas of the first lane surface and / or the second lane surface; if the driving track does not meet the turning scene condition, determining a target topological point according to an intersection point of the driving track and a lane boundary line of the second lane surface; and establishing topological connection between the lane center line of the first lane surface and the lane center line of the second lane surface according to the target topological point. By adopting the method, the lane center lines can be reasonably connected, so that reasonable and accurate lane changing suggestions are provided for intelligent driving vehicles.

Description

Technical Field

[0001] The present application relates to the field of map technology, and in particular to a lane centerline connection method, device, equipment, storage medium and product. Background Art

[0002] With the development of technological fields such as artificial intelligence and autonomous driving, the quality requirements for high-precision maps are becoming increasingly higher, in order to provide users with a better user experience during destination positioning or intelligent navigation.

[0003] During the HD map construction process, lane centerlines are usually constructed for different lanes based on the midpoints between lane boundary lines for route guidance during route planning or navigation.

[0004] However, in complex scenarios where lanes are increasing or decreasing (for example, T-intersections, roundabouts, etc.), the above method may cause lane centerline disconnection. Summary of the Invention

[0005] Based on this, it is necessary to provide a lane centerline connection method, device, equipment, storage medium and product to address the above technical problems, which can reasonably connect the lane centerlines and provide reasonable and accurate lane change suggestions for intelligent driving vehicles.

[0006] In a first aspect, the present application provides a lane centerline connection method, comprising:

[0007] Obtaining a first lane surface and a second lane surface covered by a driving trajectory within a preset intersection; wherein the driving trajectory covers a portion of the first lane surface and / or the second lane surface;

[0008] If the driving trajectory does not meet the U-turn scenario conditions, the target topological point is determined based on the intersection of the driving trajectory and the lane boundary line of the second lane surface;

[0009] A topological connection is established between a lane centerline of the first lane surface and a lane centerline of the second lane surface according to the target topological point.

[0010] In one embodiment, a target topological point is determined based on the intersection of the driving trajectory and the lane boundary line of the second lane surface, including: using the projection point of the intersection of the driving trajectory and the lane boundary line of the second lane surface on the lane centerline of the second lane surface as the initial topological point; and selecting the target topological point from the lane centerline of the second lane surface based on the initial topological point.

[0011] In one embodiment, a target topological point is selected from the lane centerline of the second lane surface based on the initial topological point, including: using the line between the initial topological point and the exit point of the lane centerline of the first lane surface as a reference control line; and selecting the target topological point from the lane centerline of the second lane surface based on the angle between the reference control line and the lane centerline of the second lane surface.

[0012] In one embodiment, a target topology point is selected from the lane centerline of the second lane surface based on the angle between the reference control line and the lane centerline of the second lane surface, including: if the angle between the reference control line and the lane centerline of the second lane surface is less than a preset angle threshold, the initial topology point is used as the target topology point; if the angle between the reference control line and the lane centerline of the second lane surface is not less than the preset angle threshold, a new initial topology point is selected from the lane centerline of the second lane surface along the traveling direction of the driving trajectory with the initial topology point as the starting point; the new initial topology point with the angle between the reference control line and the lane centerline of the second lane surface less than the preset angle threshold is used as the target topology point.

[0013] In one embodiment, the method further includes: if the driving trajectory satisfies the U-turn scenario condition, taking the intersection of the driving trajectory and the lane centerline of the first lane surface as the first topological point, and taking the intersection of the driving trajectory and the lane centerline of the second lane surface as the second topological point; based on the driving trajectory between the first topological point and the second topological point, establishing a topological connection between the lane centerline of the first lane surface and the lane centerline of the second lane surface.

[0014] In one embodiment, the method further includes: obtaining a third lane surface and an exit lane surface of the third lane surface; determining a third topological point in the third lane surface and a fourth topological point in the corresponding exit lane surface based on a model relationship between the third lane surface and the corresponding exit lane surface; wherein the model relationship is an M:N relationship or a 1:1.2 relationship; and establishing a topological connection between a lane centerline of the third lane surface and a lane centerline of the corresponding exit lane surface based on the third topological point and the fourth topological point.

[0015] In one embodiment, if the model relationship is a 1:1.2 relationship, the third topological point in the third lane surface and the fourth topological point in the corresponding escaped lane surface are determined based on the model relationship between the third lane surface and the corresponding escaped lane surface, including: determining the main lane surface and the additional lane surface of the escaped lane surface based on the lane surface width of the third lane surface; determining the lane centerline of the additional lane surface based on the center point of the additional lane surface; selecting the fourth topological point from the lane centerline of the additional lane surface based on the change in the lane surface width of the escaped lane surface; and, taking the escape point of the lane centerline corresponding to the third lane surface as the third topological point.

[0016] In one embodiment, the method further includes: obtaining a fourth lane surface and an exit lane surface of the fourth lane surface; wherein the exit lane surface of the fourth lane surface is a guide strip; using the exit point of the lane centerline corresponding to the fourth lane surface as a fifth topological point; and determining a sixth topological point based on the virtual and real attributes of the road marking connected to the guide strip; and establishing a topological connection between the lane centerline of the fourth lane surface and the lane centerline of the corresponding exit lane surface based on the fifth topological point and the sixth topological point.

[0017] In one embodiment, the sixth topological point is determined based on the virtual and real properties of the road markings connected to the guide strip, including: if the road markings connected to the guide strip are virtual lines, then the projection point of the endpoint connected to the guide strip on the lane centerline of the corresponding lane exiting surface is used as the sixth topological point; if the road markings connected to the guide strip are solid lines, then the endpoint of the solid line on the side away from the guide strip is used as the sixth topological point.

[0018] In a second aspect, the present application further provides a lane centerline connection device, comprising:

[0019] A lane surface acquisition module is used to acquire the first lane surface and the second lane surface covered by the driving trajectory in the complex intersection; wherein the driving trajectory covers a portion of the first lane surface and / or the second lane surface;

[0020] a target topological point determination module, configured to determine a target topological point based on an intersection of the driving trajectory and a lane boundary line of the second lane surface if the driving trajectory does not satisfy the U-turn scenario condition;

[0021] The topological connection module is used to establish a topological connection between the lane centerline of the first lane surface and the lane centerline of the second lane surface according to the target topological point.

[0022] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0023] Obtaining a first lane surface and a second lane surface covered by a driving trajectory within a preset intersection; wherein the driving trajectory covers a portion of the first lane surface and / or the second lane surface;

[0024] If the driving trajectory does not meet the U-turn scenario conditions, the target topological point is determined based on the intersection of the driving trajectory and the lane boundary line of the second lane surface;

[0025] A topological connection is established between a lane centerline of the first lane surface and a lane centerline of the second lane surface according to the target topological point.

[0026] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0027] Obtaining a first lane surface and a second lane surface covered by a driving trajectory within a preset intersection; wherein the driving trajectory covers a portion of the first lane surface and / or the second lane surface;

[0028] If the driving trajectory does not meet the U-turn scenario conditions, the target topological point is determined based on the intersection of the driving trajectory and the lane boundary line of the second lane surface;

[0029] A topological connection is established between a lane centerline of the first lane surface and a lane centerline of the second lane surface according to the target topological point.

[0030] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the following steps:

[0031] Obtaining a first lane surface and a second lane surface covered by a driving trajectory within a preset intersection; wherein the driving trajectory covers a portion of the first lane surface and / or the second lane surface;

[0032] If the driving trajectory does not meet the U-turn scenario conditions, the target topological point is determined based on the intersection of the driving trajectory and the lane boundary line of the second lane surface;

[0033] A topological connection is established between a lane centerline of the first lane surface and a lane centerline of the second lane surface according to the target topological point.

[0034] The above lane centerline connection method, device, equipment, storage medium and product can obtain the first lane surface and the second lane surface covered by the driving trajectory in the preset complex intersection for a preset complex intersection, and when the driving trajectory does not meet the U-turn scenario conditions, determine the target topology point based on the intersection of the driving trajectory and the lane boundary line of the second lane surface, and establish a topological connection between the lane centerline of the first lane surface and the lane centerline of the second lane surface based on the target topology point. Since the target topology point in the above technical solution is determined based on the intersection of the driving trajectory and the lane boundary line of the second lane surface, and the intersection can represent the entry point when the driving trajectory cuts into the second lane surface, the target topology point determined in this way will be more reasonable. Accordingly, based on the target topology point, the topological connection between the lane centerline of the first lane surface and the lane centerline of the second lane surface established will also be more reasonable and accurate, thereby being able to achieve the effect of providing more reasonable and accurate lane change suggestions for intelligent driving vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 FIG. 1 is an application environment diagram of a lane centerline connection method in one embodiment;

[0037] Figure 2A 1 is a flow chart of a lane centerline connection method in one embodiment;

[0038] Figure 2B A schematic diagram of a T-junction in one embodiment;

[0039] Figure 3A A schematic flow chart of the steps of determining a target topological point in one embodiment;

[0040] Figure 3B A schematic diagram of a T-junction in another embodiment;

[0041] Figure 4A A schematic diagram of a process for establishing a topology connection in an embodiment;

[0042] Figure 4B A schematic diagram of a U-turn intersection in one embodiment;

[0043] Figure 5A A schematic diagram of a process for establishing a topology connection in another embodiment;

[0044] Figure 5B A schematic diagram of a lane surface showing a 1:1 model relationship in one embodiment;

[0045] Figure 5C A schematic diagram of a lane surface showing an M:N model relationship in one embodiment;

[0046] Figure 5D A schematic diagram of a lane surface with a 1:1.2 model relationship in one embodiment;

[0047] Figure 5E A schematic diagram of a lane surface with a 1:1.2 model relationship in another embodiment;

[0048] Figure 6A A schematic diagram of a process for establishing a topology connection in another embodiment;

[0049] Figure 6B A schematic diagram of a guide strip intersection in one embodiment;

[0050] Figure 6C A schematic diagram of a guide strip intersection in another embodiment;

[0051] Figure 6D A schematic diagram of a lane centerline correction result in one embodiment;

[0052] Figure 6E is a schematic diagram of lane centerline correction results in another embodiment;

[0053] Figure 7 is a structural block diagram of a lane centerline connection device in one embodiment;

[0054] Figure 8 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0056] The lane centerline connection method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. Specifically, the server 104 can obtain the first lane surface and the second lane surface covered by the driving trajectory in the preset intersection through the terminal 102. If the driving trajectory does not meet the U-turn scenario conditions, the server 104 can determine the target topology point based on the intersection of the driving trajectory and the lane boundary line of the second lane surface. The server 104 can establish a topological connection between the lane centerline of the first lane surface and the lane centerline of the second lane surface based on the target topology point. Among them, the terminal 102 can be but is not limited to various personal computers, laptops, smart phones and tablets. The server 104 can be implemented as an independent server or a server cluster consisting of multiple servers.

[0057] In one embodiment, Figure 2A As shown, a lane centerline connection method is provided, which is applied to Figure 1 The server 104 in the example is used as an example to illustrate the process, which includes the following steps. Among them:

[0058] S210: Obtain a first lane surface and a second lane surface covered by a driving trajectory in a preset intersection.

[0059] The preset intersection may be a relatively complex intersection, for example, may include at least one of a T-shaped intersection, a roundabout intersection, a U-turn intersection, and a diversion intersection.

[0060] The first lane surface may be the surface corresponding to the first lane, and the second lane surface may be the surface corresponding to the second lane, and each lane surface has a corresponding vector direction. The first lane and the second lane are different lanes. The driving trajectory may be a historical driving trajectory existing at the intersection, and the running direction of the driving trajectory matches the lane surface vector direction of the first lane surface and the second lane surface, respectively. If there is a mismatch, it may be that during the process of constructing the lane surface, an error occurred in the marking of the vector direction of the lane centerline of the lane surface, or an error occurred in the marking of the driving direction of the driving trajectory. Such situations are not considered within the scope of this application.

[0061] Optionally, the driving trajectory can be pre-stored in a driving trajectory database. When a lane centerline connection is required, the driving trajectory corresponding to the preset intersection can be obtained from the driving trajectory database. The two lane surfaces covered by the driving trajectory are then used as the first lane surface and the second lane surface, respectively.

[0062] It should be noted that, in the preset intersection described in this embodiment, the driving trajectory will cover part of the first lane surface and / or the second lane surface. Figure 2B In the T-junction shown, the lane lines indicated by arrows on the first and second lanes are the corresponding exit lines, and the lane lines parallel to the exit lines are the corresponding entry lines. Because the driving trajectory overlaps both the entry and exit lines of the first lane, the driving trajectory overlaps the entire first lane. Furthermore, because the driving trajectory overlaps the exit line of the second lane but not its entry line, the driving trajectory overlaps a portion of the second lane.

[0063] S220: If the driving trajectory does not meet the U-turn scenario condition, determine a target topological point according to an intersection of the driving trajectory and a lane boundary line of the second lane surface.

[0064] The target topological point can be an endpoint in the second lane surface that connects to the centerline of the first lane surface. The U-turn scenario conditions can be set by technical personnel based on actual needs or experience, or determined through extensive testing, and this application does not impose any restrictions on this. For example, the U-turn scenario conditions can be conditions that limit the arc range of the driving trajectory.

[0065] For example, if the curvature of the driving trajectory does not meet the preset U-turn scenario conditions, this embodiment may first determine the intersection of the driving trajectory and the lane boundary line of the second lane surface, and determine the target topological point based on the intersection.

[0066] For example, the intersection point or its projection on the lane centerline of the second lane surface can be used as the target topological point. For a rectangular lane, the corresponding lane centerline can be the line connecting the midpoints of the entry and exit lines of the lane surface.

[0067] See also Figure 2B The following diagram shows a T-junction diagram, where l1 is the centerline of the first lane surface and l2 is the centerline of the second lane surface. The arc of the driving trajectory at this intersection does not meet the pre-set U-turn scenario conditions. In this case, the intersection point A of the driving trajectory and the lane boundary line of the second lane surface can be determined, and the intersection point A or its projection point A' on the lane centerline l2 of the second lane surface can be used as the target topological point.

[0068] S230: Establish a topological connection between a lane centerline of the first lane surface and a lane centerline of the second lane surface according to the target topological point.

[0069] For example, at the point where the target topological point and the lane centerline of the first lane surface deviate (e.g. Figure 2B An arc connection is established between point B in the first lane surface. Establishing the arc connection may involve performing arc fitting between the two points, thereby establishing a topological connection between the lane centerline of the first lane surface and the lane centerline of the second lane surface. It should be noted that the arc fitting process may be a conventional operation in the field of line segment fitting, and this application does not impose any limitation thereto.

[0070] The embodiment of the present application is directed to a preset complex intersection. For the preset complex intersection, the first lane surface and the second lane surface covered by the driving trajectory in the preset intersection can be obtained, and when the driving trajectory does not meet the U-turn scenario conditions, the target topology point is determined based on the intersection of the driving trajectory and the lane boundary line of the second lane surface, and based on the target topology point, a topological connection is established between the lane centerline of the first lane surface and the lane centerline of the second lane surface. Since the target topology point in the above technical solution is determined based on the intersection of the driving trajectory and the lane boundary line of the second lane surface, and the intersection can represent the entry point when the driving trajectory cuts into the second lane surface, the target topology point determined in this way will be more reasonable. Accordingly, based on the target topology point, the topological connection between the lane centerline of the first lane surface and the lane centerline of the second lane surface established will also be more reasonable and accurate, thereby being able to achieve the effect of providing more reasonable and accurate lane change suggestions for intelligent driving vehicles.

[0071] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this optional embodiment, the target topology point determination step of S220 is optimized and improved to improve the accuracy of the target topology point determination result.

[0072] See also Figure 3A The steps for determining the target topological point shown in FIG. 1 include:

[0073] S310: Use the projection point of the intersection of the driving trajectory and the lane boundary line of the second lane surface on the lane centerline of the second lane surface as the initial topological point.

[0074] The initial topological point may be a coordinate point used to determine the target topological point. In some cases, the initial topological point may also be a candidate point for the target topological point.

[0075] For details, see Figure 3B As shown in the schematic diagram of the T-junction, in this embodiment, the intersection point of the driving trajectory and the lane boundary line of the second lane surface is determined (corresponding to Figure 3B The projection point of point A in the second lane surface on the lane centerline (corresponding to Figure 3B The projection point is taken as the initial topological point.

[0076] S320 . Select a target topological point from the lane centerline of the second lane surface based on the initial topological point.

[0077] Optionally, in this embodiment, the initial topological point may be directly used as the target topological point.

[0078] Furthermore, in one embodiment, in order to make the target topological point more reasonable and accurate, the embodiment can also convert the initial topological point (corresponding to Figure 3B Point A' in the middle) and the departure point of the lane centerline of the first lane surface (corresponding to Figure 3B The line between point B in Figure 3B l3 in the figure) as the reference control line; and according to the angle between the reference control line and the lane centerline of the second lane surface (corresponding to Figure 3B ∠α in ), select the target topological point from the lane centerline of the second lane surface.

[0079] For example, in order to ensure that the determined target topology point satisfies a preset angle condition and improve the smoothness of the corresponding connection line during subsequent topological connection, this embodiment selects the target topology point in the following manner: if the angle between the reference control line and the lane centerline of the second lane surface is less than a preset angle threshold, the initial topology point is used as the target topology point; if the angle between the reference control line and the lane centerline of the second lane surface is not less than the preset angle threshold, a new initial topology point is selected from the lane centerline of the second lane surface along the direction of travel of the driving trajectory, starting from the initial topology point; the new initial topology point whose angle with the lane centerline of the second lane surface is less than the preset angle threshold is used as the target topology point. The preset angle threshold can be set by a technician based on needs or experience, or determined through a large number of experiments, and this application does not impose any restrictions on this.

[0080] Specifically, in this embodiment, the angle between the reference control line and the lane centerline of the second lane surface is compared with a preset angle threshold (e.g., 40°). If the angle is less than the preset angle threshold, the initial topological point is selected as the target topological point. Otherwise, a new initial topological point is selected from the lane centerline of the second lane surface, starting from the initial topological point and following the direction of travel of the driving trajectory, at a preset step length. After each new initial topological point is determined, a determination is made as to whether the angle between the corresponding new reference control line and the lane centerline of the second lane surface is less than the preset angle threshold. If the angle between the reference control line and the lane centerline of the second lane surface corresponding to a new initial topological point is less than the preset angle threshold, the new initial topological point is selected as the target topological point. The preset step length can be set by technical personnel based on needs or experience, or determined through extensive testing, and is not limited in this application. For example, the preset step length can be 5 meters.

[0081] Continue to see Figure 3B If ∠α is less than the preset angle threshold, point A' is used as the target topological point. If ∠α is greater than the preset angle threshold, a new initial topological point is selected on the lane centerline, such as point C. Correspondingly, the new reference control line is l4. If ∠β is less than the preset angle threshold, point C is used as the target topological point.

[0082] This embodiment of the application provides a specific method for determining a target topological point. This method uses the projection of the intersection of the driving trajectory and the lane boundary line of the second lane surface onto the lane centerline of the second lane surface as the initial topological point. Based on this initial topological point, a target topological point is selected from the lane centerline of the second lane surface. This ensures that the target topological point is on the lane centerline of the second lane surface, making the target topological point more reasonable and accurate, and ensuring a smoother connection between lane centerlines.

[0083] The above embodiments describe a method for connecting lane centerlines when the driving trajectory does not meet the U-turn scenario conditions. Based on the technical solutions of the above embodiments, the present application also provides another optional embodiment. In this optional embodiment, the corresponding lane centerline connection method is further limited when the driving trajectory meets the U-turn scenario conditions.

[0084] See also Figure 4A The lane centerline connection method shown includes:

[0085] S410: When the driving trajectory meets the U-turn scenario condition, an intersection point of the driving trajectory with the lane centerline of the first lane surface is used as a first topological point, and an intersection point of the driving trajectory with the lane centerline of the second lane surface is used as a second topological point.

[0086] For example, when the driving trajectory meets the U-turn scenario conditions, the intersection of the driving trajectory with the lane centerline of the first lane surface and the lane centerline of the second lane surface is obtained, and the intersection of the driving trajectory with the lane centerline of the first lane surface is used as the first topological point, and the intersection of the driving trajectory with the lane centerline of the second lane surface is used as the second topological point. For example, in Figure 4B In the U-turn intersection shown, point D is the first topological point, and point E is the second topological point.

[0087] S420: Establish a topological connection between a lane centerline of the first lane surface and a lane centerline of the second lane surface based on the driving trajectory between the first topological point and the second topological point.

[0088] For example, an arc connection is established between a first topological point and a second topological point. Establishing the arc connection may involve performing arc fitting between the two points, thereby establishing a topological connection between the lane centerline of the first lane surface and the lane centerline of the second lane surface. It should be noted that the arc fitting process may be a conventional operation in the field of line segment fitting, and this application does not impose any limitation thereto.

[0089] In an embodiment of the present application, when the driving trajectory meets the U-turn scenario conditions, a topological connection is established between the lane centerline of the first lane surface and the lane centerline of the second lane surface based on the driving trajectory between the intersection point of the driving trajectory with the lane centerline of the first lane surface (first topological point) and the intersection point of the driving trajectory with the lane centerline of the second lane surface (second topological point). This makes the process of establishing the topological connection in the U-turn scenario simpler and more reasonable.

[0090] Based on the technical solutions of the above embodiments, the present application also provides another optional embodiment for achieving lane centerline topological connection. In this optional embodiment, when lane surfaces have a front-to-back connection, topological connection can also be performed based on the model relationship corresponding to the lane surfaces with the connection relationship.

[0091] See also Figure 5A The lane centerline connection method shown includes:

[0092] S510: Acquire a third lane surface and a lane-exiting surface of the third lane surface.

[0093] Among them, along the road running direction, the two lane surfaces that share the same edge with the escape line of the third lane surface are the escape lane surfaces of the third lane surface. Among them, the number of the escape lane surface can be at least one, and this application does not impose any limitation on this.

[0094] S520: Determine a third topological point in the third lane surface and a fourth topological point in the corresponding lane-exiting surface based on a model relationship between the third lane surface and the corresponding lane-exiting surface.

[0095] S530: Establish a topological connection between the lane centerline of the third lane surface and the lane centerline of the corresponding lane-exiting surface based on the third topological point and the fourth topological point.

[0096] The topological connection can be established by storing the topological connection relationship between points or directly generating topological connection lines, and this application does not impose any restrictions on this. The relationship with the connecting lane surface can include a 1:1 relationship, a 1:1.2 relationship, and an M:N relationship, and this application does not impose any restrictions on the method of constructing the relationship with the connecting lane surface.

[0097] For example, the length difference and ratio between the adjacent sides of the third lane surface and its corresponding exiting lane surface can be determined, and the model relationship between the third lane surface and its corresponding exiting lane surface can be determined based on the ratio. For example, if the length difference between the two adjacent sides is within a preset difference range, or the ratio is within a preset ratio range, then the model relationship between the third lane surface and the corresponding exiting lane surface is determined to be a 1:1 relationship. If the number of exiting lane surfaces corresponding to the third lane surface is two, and the projected ratio of each exiting lane surface to the adjacent side of the third lane surface is less than the preset ratio, or the difference between the projected length and the width of the third lane surface is less than the preset difference, then the model relationship between the third lane surface and its corresponding exiting lane surface is determined to be a 1:1.2 relationship. If the number of exiting lane surfaces corresponding to the third lane surface is greater than two, then the model relationship between the third lane surface and its corresponding exiting lane surface is determined to be an M:N relationship. The preset difference range, preset ratio range, preset ratio, and preset distance can be set by technicians based on needs or experience, or determined through extensive testing, and this application does not impose any limitations thereon.

[0098] In an optional embodiment, if the model relationship is a 1:1 relationship, the exit point on the lane centerline of the third lane surface can be used as the third topological point, and the entry point on the lane centerline of the corresponding exit lane surface of the third lane surface can be used as the fourth topological point. Accordingly, a topological connection line is generated by fitting between the third topological point and the fourth topological point, thereby establishing a topological connection between the lane centerline of the third lane surface and the lane centerline of the corresponding exit lane surface. The topological connection line can be implemented based on at least one conventional curve fitting method to improve the smoothness between the topological connection line and the connected lane centerline.

[0099] See also Figure 5B The model relationship shown is a schematic diagram of an intersection with a 1:1 relationship. In this embodiment, the exit point O on the lane centerline of the third lane surface can be used as the third topological point, and the entry point O on the corresponding exit lane surface of the third lane surface can be used as the fourth topological point. Because the third topological point and the fourth topological point coincide, the lane centerlines of the two lane surfaces that are in a continuous relationship are already connected, so there is no need to re-establish a topological connection between the lane centerline of the third lane surface and the lane centerline of the corresponding exit lane surface.

[0100] In another optional embodiment, if the model relationship is an M:N relationship, this embodiment may use a point on the lane centerline of the third lane surface that is a preset distance (e.g., 6 meters) from the exit point as the third topological point, and a point on the lane centerline of the third lane surface corresponding to the exit lane surface that is a preset distance (e.g., 6 meters) from the entry point as the fourth topological point. The preset length can be set by technicians based on needs or experience, or determined through extensive testing, and this application does not impose any restrictions on this.

[0101] See also Figure 5C The model relationship shown is a schematic diagram of an intersection with an M:N relationship. In this embodiment, point F on the lane centerline of the third lane surface, 6 meters from the exit point, can be used as the third topological point. Points H and G, 6 meters from the entry point on the lane centerline of the corresponding exit lane surface of the third lane surface, can be used as fourth topological points. Arc lines are established between points F and H, and between points F and G, respectively, to establish a topological connection between the lane centerline of the third lane surface and the lane centerline of the corresponding exit lane surface.

[0102] In yet another optional embodiment, in order to make the third and fourth topological points determined more accurately when the model relationship is 1:1.2, this embodiment further provides a method for determining the third and fourth topological points when the model relationship is 1:1.2. For example, the main lane surface and the additional lane surface of the exit lane surface can be determined based on the lane surface width of the third lane surface; the lane centerline of the additional lane surface can be determined based on the center point of the additional lane surface; the fourth topological point can be selected from the lane centerline of the additional lane surface based on the change in the lane surface width of the exit lane surface; and the exit point of the third lane surface corresponding to the lane centerline can be used as the third topological point.

[0103] The main lane surface can be a rectangular lane surface in the exit lane surface corresponding to the third lane surface, which has an adjacent edge to the third lane surface. The additional lane surface can be the area of the exit lane surface other than the main lane surface. The center point of the additional lane surface can be the midpoint of the point-to-point line between its two boundary lines. The fourth topological point can be a point in the additional lane surface used for topological connection with the lane centerline corresponding to the third lane surface. The third topological point can be a point in the third lane surface used for topological connection with the additional lane surface.

[0104] For example, the exit line of the third lane surface can be projected onto the exit line of the corresponding exit lane surface; the surface formed by the two endpoints of the exit line of the third lane surface and its two corresponding projection points on the exit lane surface is used as the main lane surface; and the remaining portion of the exit lane surface is used as the additional lane surface. Furthermore, the center points of the additional lane surface are connected, and the connecting line is used as the lane centerline of the additional lane surface. A fourth topological point is selected from the lane centerline of the additional lane surface. Accordingly, the topological connection relationship between the two is stored, thereby establishing a topological connection between the lane centerline of the third lane surface and the lane centerline of the corresponding exit lane surface.

[0105] Alternatively, a point on the centerline of the additional lane surface whose sum of distances from the two boundary lines of the additional lane surface is a preset value (e.g., 2.4 meters) can be used as the fourth topological point. The point where the third lane surface exits the centerline of the lane is used as the third topological point. The preset value can be set by technical personnel based on needs or experience, or determined through extensive testing, and this application does not impose any restrictions on this. For example, the preset value can be the minimum width that a vehicle can pass through.

[0106] See also Figure 5D The model relationship shown is a schematic diagram of a lane surface with a 1:1.2 relationship. In this embodiment, the exit point I on the lane centerline of the third lane surface can be used as the third topological point. The entry point I on the corresponding exit lane surface of the main lane surface and the point J on the lane centerline of the additional lane surface, whose sum of distances from the two boundary lines of the additional lane surface is a preset value (e.g., 2.4 meters), can be used as the fourth topological point. Because the third topological point coincides with the fourth topological point on the main lane surface, this embodiment can directly establish a topological connection between the lane centerlines of the third lane surface and the main lane surface. Furthermore, the third topological point I can be associated and stored with the fourth topological point J on the additional lane surface. Thus, by storing the topological connection relationship between the two, a topological connection is established between the lane centerlines of the third lane surface and the lane centerlines of the additional lane surface.

[0107] Furthermore, this embodiment also provides another special case where the model relationship is 1:1.2, see Figure 5E The schematic diagram of the lane surface is shown. Among them, the additional lane surface is a gradient lane surface, and its maximum lane surface width is the same as the lane surface width of the third lane surface. If the additional lane surface is directly connected from the third lane surface, the generated center line will not be smooth. At this time, a lane edge line l5 can be virtualized, corresponding to the right side line of the additional lane surface. Among them, the width from l5 to the right side line of the additional lane surface is the same as the width of the third lane surface. Furthermore, the lane surface composed of l5 and the right side line of the additional lane surface can be used as the target lane surface. Since the entry point l6 of the lane center line of the target lane surface coincides with the exit point of the lane center line of the third lane surface, the corresponding Figure 5E Point Z in , therefore, can directly establish a topological connection between the third lane surface and its corresponding exit lane surface.

[0108] The embodiments of the present application provide a method for connecting lane centerlines in different situations, so that the method for connecting lane centerlines can be applied to different scenarios, thereby improving the universality of lane centerline connection.

[0109] On the basis of the technical solutions of the above embodiments, the lane centerline connection method of this embodiment is further applicable to scenarios where guide strips exist.

[0110] See also Figure 6A The steps for establishing a topology connection include:

[0111] S610: Acquire a fourth lane surface and a lane-exiting surface of the fourth lane surface.

[0112] Among them, the lane exit surface of the fourth lane is connected with a guide strip.

[0113] S620: The exit point of the fourth lane surface corresponding to the lane centerline is used as the fifth topological point.

[0114] The fifth topological point may be a point on the lane centerline of the fourth lane surface that can escape to the guide strip.

[0115] S630: Determine a sixth topological point according to the virtual and real attributes of the road marking line connected to the guide strip.

[0116] The road marking line connected to the guide strip may be an extension line of the adjacent edge of the guide strip and its adjacent lane surface.

[0117] For example, if the road marking connected to the guide strip is a dotted line, the projection point of the endpoint of the guide strip on the center line of the lane where the lane is separated from the corresponding lane surface is used as the sixth topological point; if the road marking connected to the guide strip is a solid line, the endpoint of the solid line on the side away from the guide strip is used as the sixth topological point.

[0118] Specifically, the virtual and real attributes of the road markings connected to the guide strip can be identified. If the road marking connected to the guide strip is a virtual line, the endpoint of the adjacent lane surface connecting the guide strip is used as the sixth topological point. If the road marking connected to the guide strip is a solid line, the endpoint of the adjacent lane surface away from the guide strip is used as the sixth topological point. Since vehicles cannot cover the road markings connected to the guide strip when the road markings are solid, the above method can ensure that the sixth topological point determined when the road markings connected to the guide strip are solid lines is more consistent with traffic regulations, helping to improve vehicle driving safety.

[0119] S640: Establish a topological connection between the lane centerline of the fourth lane surface and the lane centerline of the corresponding lane-exiting surface based on the fifth topological point and the sixth topological point.

[0120] Optionally, the fifth topological point and the sixth topological point can be stored in the database, and the topological connection relationship between the two can be stored at the same time, or a topological connection line can be directly generated between the fifth topological point and the sixth topological point to establish a topological connection between the lane centerline of the fourth lane surface and the lane centerline of the corresponding lane exit surface.

[0121] To facilitate understanding of this embodiment by those skilled in the art, the steps of this embodiment are described in detail with reference to the figures, as follows:

[0122] See also Figure 6B At the illustrated intersection with a guide strip, point K on the lane centerline of the fourth lane surface, where the lane can exit the guide strip, is the fifth topological point. Because the road markings connected to the guide strip are dashed lines, the projection point N' of the adjacent lane surface connecting the guide strip's endpoint N onto the lane centerline of the corresponding exit lane surface is used as the sixth topological point. The topological connection relationship between the fifth topological point K and the sixth topological point N' is stored, thereby establishing a topological connection between the lane centerline of the fourth lane surface and the lane centerline of the corresponding exit lane surface.

[0123] See also Figure 6C At the intersection with the guide strip shown, point K on the lane centerline of the fourth lane surface, where the lane can escape to the guide strip, is the fifth topological point. Because the road markings connected to the guide strip are solid lines, the projection point P' of the endpoint P of the adjacent lane surface on the side away from the guide strip onto the lane centerline of the corresponding escape lane surface is used as the sixth topological point. The topological connection relationship between the fifth topological point K and the sixth topological point P' is stored, thereby establishing a topological connection between the lane centerline of the fourth lane surface and the lane centerline of the corresponding escape lane surface.

[0124] The lane centerline connection method for the guide strip intersection provided in the embodiment of the present application takes the exit point of the lane centerline corresponding to the fourth lane surface as the fifth topological point, and determines the sixth topological point based on the virtual and real attributes of the road marking connected to the guide strip, so that the topological connection between the lane centerline of the fourth lane surface established based on the fifth topological point and the sixth topological point and the lane centerline of the corresponding exit lane surface is more reasonable, and the application scenarios of the lane centerline connection method provided in this embodiment are richer.

[0125] It should be noted that the lane boundary lines corresponding to different lane surfaces in this application all have corresponding confidence levels. The statistical value (e.g., mean) of the confidence level of the lane boundary lines of a lane surface can be used as the confidence level of the lane centerline of the corresponding lane surface. Accordingly, the statistical value (e.g., mean) of the confidence level of the lane centerline corresponding to a topological connection line or topological connection relationship can be used as the confidence level of the corresponding topological connection line or topological connection relationship. Furthermore, during route planning, the confidence level of the lane centerline and the confidence level of the topological connection line or topological connection method can be combined to make route recommendations.

[0126] Based on the basic solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, a correction method is provided for the lane centerline corresponding to a gradually changing lane surface with a gradual change trend. The gradual change trend can be determined by the change in the slope of the lane surface corresponding to the boundary line, or the change in the distance between the two, which is not limited in this application.

[0127] For example, the gradient endpoint of the gradient lane surface on the gradient boundary line is identified; the gradient endpoint closest to the other boundary line is selected as a reference point; the midpoint between this reference point and the non-gradient boundary line on the other side of the lane surface is used as the widening point, and the lane centerline is corrected based on the widening point. The advantage of this method is that it can straighten the lane centerline and ensure that the lane centerline is not bent.

[0128] See also Figure 6D The following diagram shows the lane centerline correction results. The lane surface shown is a gradient lane surface, where A and B are the gradient endpoints, with A selected as the reference point. A projection line AC is determined between reference point A and the non-gradient boundary line, and the midpoint D between the projection lines AC is used as the widening point. The original lane centerline l0 is corrected based on the widening point to obtain the new lane centerline l1. Lane centerline l0 is generated based on the midpoint between the lane boundary lines.

[0129] See also Figure 6E The following diagram shows the lane centerline correction results. The lane surface shown is a gradient lane surface, where A and B are the gradient endpoints, with B selected as the reference point. The projection line AC between reference point B and the non-gradient boundary line is determined, and the midpoint D between the projection lines BC is used as the widening point. The original lane centerline l0 is corrected based on the widening point to obtain the new lane centerline l1. Lane centerline l0 is generated based on the midpoint between the lane boundary lines.

[0130] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0131] Based on the same inventive concept, embodiments of the present application also provide a lane centerline connection device for implementing the lane centerline connection method described above. The solution provided by this device is similar to the solution described in the method described above. Therefore, the specific limitations of one or more lane centerline connection device embodiments provided below can be found in the above-described limitations of the lane centerline connection method and will not be further elaborated here.

[0132] In one embodiment, Figure 7 As shown, a lane centerline connection device is provided, including: a lane surface acquisition module 710, a target topology point determination module 720 and a topology connection module 730, wherein:

[0133] The lane surface acquisition module 710 is used to acquire the first lane surface and the second lane surface covered by the driving trajectory in the complex intersection.

[0134] The driving track covers a partial area of the first lane surface and / or the second lane surface.

[0135] The target topological point determination module 720 is configured to determine a target topological point based on an intersection of the driving trajectory and a lane boundary line of the second lane surface if the driving trajectory does not satisfy the U-turn scenario condition.

[0136] The topological connection module 730 is configured to establish a topological connection between the lane centerline of the first lane surface and the lane centerline of the second lane surface according to the target topological point.

[0137] In one embodiment, the target topology point determination module 720 includes: an initial topology point determination unit, which is used to use the intersection point of the driving trajectory and the lane boundary line of the second lane surface, and the projection point on the lane centerline of the second lane surface, as the initial topology point; and a target topology point determination unit, which is used to select the target topology point from the lane centerline of the second lane surface based on the initial topology point.

[0138] In one embodiment, the target topology point determination unit includes a reference control line determination subunit, which is used to use the line between the initial topology point and the exit point of the lane centerline of the first lane surface as the reference control line; the target topology point determination subunit is used to select the target topology point from the lane centerline of the second lane surface based on the angle between the reference control line and the lane centerline of the second lane surface.

[0139] In one embodiment, the target topology point determination subunit is specifically used to: if the angle between the reference control line and the lane centerline of the second lane surface is less than a preset angle threshold, then the initial topology point is used as the target topology point; if the angle between the reference control line and the lane centerline of the second lane surface is not less than the preset angle threshold, then taking the initial topology point as the starting point, along the traveling direction of the driving trajectory, a new initial topology point is selected from the lane centerline of the second lane surface; the new initial topology point when the angle between the reference control line and the lane centerline of the second lane surface is less than the preset angle threshold is used as the target topology point.

[0140] In one embodiment, the lane centerline connection device also includes a first topological connection module, which is specifically used to: if the driving trajectory meets the U-turn scenario conditions, then use the intersection of the driving trajectory and the lane centerline of the first lane surface as the first topological point, and use the intersection of the driving trajectory and the lane centerline of the second lane surface as the second topological point; based on the driving trajectory between the first topological point and the second topological point, establish a topological connection between the lane centerline of the first lane surface and the lane centerline of the second lane surface.

[0141] In one embodiment, the lane centerline connection device also includes a second topological connection module, which is specifically used to: obtain the third lane surface and the lane exit surface of the third lane surface; determine the third topological point in the third lane surface and the fourth topological point in the corresponding lane exit surface based on the model relationship between the third lane surface and the corresponding lane exit surface; wherein the model relationship is an M:N relationship or a 1:1.2 relationship; and establish a topological connection between the lane centerline of the third lane surface and the lane centerline of the corresponding lane exit surface based on the third topological point and the fourth topological point.

[0142] In one embodiment, if the model relationship is a 1:1.2 relationship, then based on the model relationship between the third lane surface and the corresponding escaped lane surface; accordingly, the second topological connection module includes: a lane surface splitting unit, used to determine the main lane surface and the additional lane surface of the escaped lane surface according to the lane surface width of the third lane surface; a first determination unit, used to determine the lane centerline of the additional lane surface according to the center point of the additional lane surface; a second determination unit, used to select a fourth topological point from the lane centerline of the additional lane surface according to the change of the lane surface width of the escaped lane surface; and, the escape point of the lane centerline corresponding to the third lane surface is used as the third topological point.

[0143] In one embodiment, the lane centerline connection device also includes a fourth topological connection module, which is specifically used to: obtain the fourth lane surface and the lane exit surface of the fourth lane surface; wherein the lane exit surface of the fourth lane surface is a guide strip; use the exit point of the lane centerline corresponding to the fourth lane surface as the fifth topological point; and determine the sixth topological point based on the virtual and real attributes of the road marking connected to the guide strip; and establish a topological connection between the lane centerline of the fourth lane surface and the lane centerline of the corresponding lane exit surface based on the fifth topological point and the sixth topological point.

[0144] In one embodiment, the fourth topological connection module includes: a third determination unit, which is used to use the endpoint of the guide strip as the sixth topological point when the road marking line connected to the guide strip is a dotted line; and a fourth determination unit, which is used to use the endpoint of the solid line away from the guide strip as the sixth topological point when the road marking line connected to the guide strip is a solid line.

[0145] Each module in the lane centerline connection device described above may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a computer device memory in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0146] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 8As shown. The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals via wired or wireless means, and the wireless means can be achieved via Wi-Fi, mobile cellular networks, NFC (near-field communication), or other technologies. When executed by the processor, the computer program implements a lane centerline connection method. The display unit of the computer device is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0147] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0148] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the lane centerline connection method provided in any embodiment of the present application is implemented.

[0149] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the lane centerline connection method provided in any embodiment of the present application is implemented.

[0150] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the lane centerline connection method provided in any embodiment of the present application.

[0151] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0152] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0153] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A lane centerline connection method, characterized in that: include: Acquire a first lane surface and a second lane surface covered by a driving trajectory within a preset intersection; wherein the driving trajectory covers a portion of the first lane surface and / or the second lane surface; If the driving trajectory does not meet the U-turn scenario condition, determining a target topological point according to an intersection of the driving trajectory and a lane boundary line of the second lane surface; A topological connection is established between a lane centerline of the first lane surface and a lane centerline of the second lane surface according to the target topological point.

2. The method according to claim 1, characterized in that The determining of a target topological point according to an intersection of the driving trajectory and a lane boundary line of the second lane surface includes: Taking the projection point of the intersection of the driving trajectory and the lane boundary line of the second lane surface on the lane centerline of the second lane surface as the initial topological point; The target topological point is selected from the lane centerline of the second lane surface according to the initial topological point.

3. The method according to claim 2, characterized in that The step of selecting the target topological point from the lane centerline of the second lane surface based on the initial topological point includes: Using a line connecting the initial topological point and an exit point of the lane centerline of the first lane surface as a reference control line; The target topological point is selected from the lane centerline of the second lane surface according to the included angle between the reference control line and the lane centerline of the second lane surface.

4. The method according to claim 3, characterized in that The selecting the target topological point from the lane centerline of the second lane surface according to the angle between the reference control line and the lane centerline of the second lane surface includes: If the angle between the reference control line and the lane centerline of the second lane surface is less than a preset angle threshold, the initial topological point is used as the target topological point; If the angle between the reference control line and the lane centerline of the second lane surface is not less than a preset angle threshold, a new initial topological point is selected from the lane centerline of the second lane surface along the direction of the driving trajectory, starting from the initial topological point; A new initial topological point whose included angle with the lane centerline of the second lane surface is less than a preset angle threshold is used as the target topological point.

5. The method according to any one of claims 1 to 4, characterized in that The method further comprises: If the driving trajectory satisfies a U-turn scenario condition, an intersection point of the driving trajectory with the lane centerline of the first lane surface is used as a first topological point, and an intersection point of the driving trajectory with the lane centerline of the second lane surface is used as a second topological point; A topological connection is established between a lane centerline of the first lane surface and a lane centerline of the second lane surface based on a driving trajectory between the first topological point and the second topological point.

6. The method according to any one of claims 1 to 4, characterized in that The method further comprises: Acquire a third lane surface and a lane-exiting surface of the third lane surface; Determining a third topological point in the third lane surface and a fourth topological point in the corresponding exit lane surface based on a model relationship between the third lane surface and the corresponding exit lane surface; wherein the model relationship is an M:N relationship or a 1:1.2 relationship; A topological connection is established between the lane centerline of the third lane surface and the lane centerline of the corresponding exit lane surface based on the third topological point and the fourth topological point.

7. The method according to claim 6, characterized in that If the model relationship is a 1:1.2 relationship, determining a third topological point in the third lane surface and a fourth topological point in the corresponding exit lane surface based on the model relationship between the third lane surface and the corresponding exit lane surface includes: determining a main lane surface and an additional lane surface of the escape lane surface according to the lane surface width of the third lane surface; Determining a lane centerline of the additional lane surface based on the center point of the additional lane surface; selecting a fourth topological point from the lane centerline of the additional lane surface according to a change in the lane width of the escaped lane surface; and The point where the third lane surface deviates from the lane centerline is used as the third topological point.

8. The method according to any one of claims 1 to 4, characterized in that The method further comprises: Acquire a fourth lane surface and a lane-exiting surface of the fourth lane surface; wherein the lane-exiting surface of the fourth lane surface is a guide strip; The point where the fourth lane surface exits from the lane centerline is used as the fifth topological point; and Determining a sixth topological point according to the virtual and real attributes of the road marking line connected to the guide strip; A topological connection is established between the lane centerline of the fourth lane surface and the lane centerline of the corresponding lane-exiting surface based on the fifth topological point and the sixth topological point.

9. The method according to claim 8, characterized in that The step of determining the sixth topological point according to the virtual and real attributes of the road marking line connected to the guide strip comprises: If the road marking line connected to the guide strip is a dotted line, the projection point of the endpoints of the guide strip on the lane centerline of the corresponding lane-out surface is used as the sixth topological point; If the road marking line connected to the guide strip is a solid line, the projection point of the endpoint of the solid line away from the guide strip on the lane centerline of the corresponding lane-out surface is used as the sixth topological point.

10. A lane centerline connection device, characterized in that: include: A lane surface acquisition module is used to acquire a first lane surface and a second lane surface covered by a driving trajectory in a complex intersection; wherein the driving trajectory covers a portion of the first lane surface and / or the second lane surface; a target topological point determination module, configured to determine a target topological point according to an intersection of the driving trajectory and a lane boundary line of the second lane surface if the driving trajectory does not satisfy a U-turn scenario condition; A topological connection module is used to establish a topological connection between the lane centerline of the first lane surface and the lane centerline of the second lane surface according to the target topological point.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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