Map construction method and device, vehicle, medium and product

Abstract

The invention relates to a map construction method and device, a vehicle, a storage medium and a product. A driving track of a vehicle and a visual lane line of a road surface where the driving track is located can be obtained, and the visual lane line is obtained after a road surface image is recognized; connecting the visual lane lines according to the driving track to obtain a lane line connection result; and constructing a target map according to the lane line connection result.

Description

Technical Field

[0001] This disclosure relates to the field of map building, and more particularly to a map building method, apparatus, vehicle, medium, and product. Background Technology

[0002] In the development of autonomous driving, high-definition maps play a crucial role in vehicle localization, environmental perception, and path planning. Lane lines, as one of the important road markers, are essential for controlling vehicle trajectory and accurately locating the vehicle. Therefore, accurate and efficient lane line modeling is a key step in the construction of high-definition maps. Summary of the Invention

[0003] To overcome the problems existing in related technologies, this disclosure provides a map construction method, apparatus, vehicle, medium, and product.

[0004] According to a first aspect of the present disclosure, a map construction method is provided, comprising:

[0005] The vehicle's driving trajectory and the visual lane lines on the road surface where the driving trajectory is located are obtained, and the visual lane lines are obtained by recognizing the road surface image;

[0006] The visual lane lines are connected according to the driving trajectory to obtain the lane line connection result;

[0007] Construct a target map based on the lane line connection results.

[0008] Optionally, connecting the visual lane lines based on the driving trajectory to obtain the lane line connection result includes:

[0009] Multiple lane line connection windows are established based on the driving trajectory;

[0010] The visual lane lines are connected through the lane line connection window to obtain the lane line connection result.

[0011] Optionally, establishing multiple lane line connection windows based on the driving trajectory includes:

[0012] Multiple consecutive trajectory points are determined from the driving trajectory;

[0013] For each trajectory point, a lane line connection window is established with the trajectory point as the center and the length direction perpendicular to the tangent of the trajectory point on the driving trajectory as the length direction.

[0014] Optionally, the visual lane lines include multiple lines, and connecting the visual lane lines through the lane line connection window includes:

[0015] For each lane line connection window, a first lane line intersecting with the lane line connection window is determined from among the plurality of visual lane lines;

[0016] The first lane lines that intersect with each lane line connection window are connected sequentially according to the order of the plurality of lane line connection windows to obtain the lane line connection result.

[0017] Optionally, the step of sequentially connecting the first lane lines that intersect each lane line connection window according to the order of the plurality of lane line connection windows to obtain the lane line connection result includes:

[0018] The lane line connection windows are traversed sequentially in the order of the multiple lane line connection windows, and the lane line connection steps are executed repeatedly until all the multiple lane line connection windows have been traversed.

[0019] The lane lines to be connected at the end of the loop are taken as the lane line connection results;

[0020] The lane line connection step includes:

[0021] The first lane line that intersects with the first lane line connection window among the plurality of lane line connection windows is taken as the lane line to be connected, and the next lane line connection window of the first lane line connection window is taken as the current traversal window;

[0022] Connect the first lane line that intersects with the current traversal window to the lane line to be connected, and use the connected lane line as the updated lane line to be connected.

[0023] The next lane line connection window of the current traversal window is used as the updated current traversal window.

[0024] Optionally, the method further includes:

[0025] For each lane line connection window, determine a first distance between every two adjacent lane lines in at least one of the first lane lines that intersects with the lane line connection window;

[0026] Based on the first distance, perform a deduplication operation on the first lane lines that intersect with the lane line connection window.

[0027] Optionally, the first lane line includes at least one lane line, and the lane line to be connected includes at least one lane line;

[0028] The step of connecting the first lane line that intersects with the current traversal window to the lane line to be connected includes:

[0029] For each lane line to be connected, a second lane line matching the lane line to be connected is determined from at least one first lane line that intersects with the current traversal window;

[0030] Connect the lane line to be connected to the second lane line.

[0031] Optionally, determining the second lane line matching the lane line to be connected from at least one first lane line intersecting with the current traversal window includes:

[0032] For each first lane line that intersects with the current traversal window, if it is determined that the first lane line matches the lane line to be connected in at least one preset matching dimension, the first lane line is used as the second lane line that matches the lane line to be connected.

[0033] The preset matching dimension includes at least one of the following:

[0034] Lane marking matching, lane type matching, lane distance matching, and lane angle matching.

[0035] Optionally, if it is determined that the identifier of the first lane line is the same as the identifier of the lane line to be connected, it is determined that the identifier of the first lane line matches the identifier of the lane line to be connected.

[0036] If it is determined that the type of the first lane line is the same as the type of the lane line to be connected, then the types of the first lane line and the lane line to be connected are matched.

[0037] Determine a second distance between the first lane line and the lane line to be connected, and if the second distance is less than or equal to a preset distance threshold, determine that the distance between the first lane line and the lane line to be connected is matched;

[0038] Determine the angle between the first lane line and the lane line to be connected, and if the angle is less than or equal to a preset angle threshold, determine that the angles of the first lane line and the lane line to be connected are matched.

[0039] Optionally, the method further includes:

[0040] When it is determined that there are multiple second lane lines that match the lane line to be connected, the total cost of each second lane line and the lane line to be connected under the at least one preset matching dimension is determined, wherein the smaller the total cost, the higher the matching degree between the second lane line and the lane line to be connected.

[0041] Select the second lane line with the minimum total cost from multiple second lane lines as the third lane line to be matched with the lane line to be connected;

[0042] Connect the lane line to be connected to the third lane line.

[0043] Optionally, the total cost of determining each of the second lane lines and the lane lines to be connected under the at least one preset matching dimension includes:

[0044] For each second lane line, obtain the cost value of the second lane line and the lane line to be connected under each preset matching dimension;

[0045] The sum of the cost values ​​under each preset matching dimension is taken as the total cost of the second lane line and the lane line to be connected under at least one preset matching dimension.

[0046] Optionally, constructing the target map based on the lane line connection results includes:

[0047] The lane line connection results are corrected and connected to obtain the target lane line;

[0048] The target map is constructed based on the target lane lines.

[0049] Optionally, the step of correcting the lane line connection results to obtain the target lane line includes:

[0050] Determine the lane line geometry topology corresponding to the lane line connection results;

[0051] If the lane line connection result is determined to include a fourth lane line corresponding to a preset fork scenario based on the lane line geometry topology, the fourth lane line is corrected and connected.

[0052] The lane line connection result obtained after correcting and connecting the fourth lane line is taken as the target lane line.

[0053] Optionally, the fourth lane line includes multiple lane lines, and the correction and connection of the fourth lane lines includes:

[0054] Determine the intersection point corresponding to the fourth lane line, wherein the intersection point is the point where multiple fourth lane lines intersect;

[0055] Determine at least one fifth lane line from among the plurality of said fourth lane lines that is not connected to the intersection;

[0056] Connect the lane line that is closest to the intersection point from the at least one fifth lane line to the intersection point.

[0057] Optionally, the preset bifurcation scenario includes a guide tip and / or a speed-changing lane.

[0058] Optionally, the method further includes:

[0059] The target lane line is subjected to lane line length threshold filtering and / or moving average filtering to obtain the filtered lane line.

[0060] The target map is constructed based on the filtered lane lines.

[0061] According to a second aspect of the present disclosure, a map building apparatus is provided, comprising:

[0062] The acquisition module is configured to acquire the vehicle's driving trajectory and the visual lane lines on the road surface where the driving trajectory is located, wherein the visual lane lines are obtained by recognizing the road surface image;

[0063] The connection module is configured to connect the visual lane lines according to the driving trajectory to obtain the lane line connection result;

[0064] The map building module is configured to build a target map based on the lane line connection results.

[0065] According to a third aspect of the present disclosure, a vehicle is provided, comprising:

[0066] processor;

[0067] Memory used to store processor-executable instructions;

[0068] The processor is configured to perform the steps of the method described in the first aspect of this disclosure.

[0069] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the steps of the map construction method provided in the first aspect of the present disclosure.

[0070] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described in the first aspect of the present disclosure.

[0071] The technical solutions provided by the embodiments of this disclosure can include the following beneficial effects: visual lane lines output by the visual algorithm can be connected according to the vehicle's driving trajectory. For discontinuous visual lane lines, connecting multiple discontinuous visual lane lines into a continuous lane line can be achieved. Furthermore, connecting these visual lane lines can also solve the problem of missed detections of visual lane lines. Thus, constructing a target map based on the lane line connection results can improve the map construction accuracy compared to directly constructing a map using visual lane lines.

[0072] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0073] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0074] Figure 1 This is a flowchart illustrating a map construction method according to an exemplary embodiment.

[0075] Figure 2 It is based on Figure 1 The illustrated embodiment shows a flowchart of a map construction method.

[0076] Figure 3 It is based on Figure 2 The illustrated embodiment shows a flowchart of a map construction method.

[0077] Figure 4 This is a schematic diagram illustrating a process of connecting lane lines based on a sliding window, according to an exemplary embodiment.

[0078] Figure 5 It is based on Figure 3 The illustrated embodiment shows a flowchart of a map construction method.

[0079] Figure 6 It is based on Figure 1 The illustrated embodiment shows a flowchart of a map construction method.

[0080] Figure 7 This is a block diagram illustrating a map building apparatus according to an exemplary embodiment.

[0081] Figure 8 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0082] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0083] The embodiments described in the following examples of this disclosure are not representative of all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0084] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0085] This disclosure is mainly applied to lane line modeling scenarios in the process of building high-precision maps. The completed high-precision map can be applied to the autonomous driving of vehicles.

[0086] In related technologies, visual lane lines are primarily obtained by performing image recognition on acquired road surface images, and then a high-precision map is constructed based on these visual lane lines. However, visual lane lines suffer from poor detection quality (e.g., missed detections and false detections), leading to incorrect lane line localization. Furthermore, the recognition results may include discontinuous lane lines such as dashed lines, which also affect the accuracy of the high-precision map. Moreover, for road scenarios with complex topologies such as intersections, road edges, acceleration lanes, and guide vanes, the accuracy of visual lane lines obtained through image recognition is even lower, further impacting the accuracy of the high-precision map.

[0087] To address the aforementioned problems, this disclosure provides a map construction method, apparatus, vehicle, medium, and product. The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0088] Figure 1 This is a flowchart illustrating a map construction method according to an exemplary embodiment, which can be applied to vehicles or terminals. Figure 1 As shown, the method includes the following steps.

[0089] In step S11, the vehicle's driving trajectory and the visual lane lines on the road surface where the driving trajectory is located are obtained. The visual lane lines are obtained by recognizing the road surface image.

[0090] This disclosure can be applied to model lane lines on a preset road in an offline scenario. During this process, the vehicle can be controlled to travel from point A (i.e., the preset starting point) to point B (i.e., the preset ending point) on the preset road, and the vehicle's driving trajectory on the preset road can be obtained.

[0091] As the vehicle travels on the preset road, it can collect road surface images in real time along the vehicle's direction of travel. After the road surface images are input into the preset image recognition algorithm model, the model outputs the visual lane line.

[0092] In step S12, the visual lane lines are connected according to the driving trajectory to obtain the lane line connection result.

[0093] The visual lane lines may include multiple lines. In this step, multiple visual lane lines can be matched based on the driving trajectory, and two matched visual lane lines can be connected. The lane line connection result may include at least one complete lane line obtained by connecting two matched visual lane lines.

[0094] In step S13, a target map is constructed based on the lane line connection results.

[0095] In this step, road surface information can be extracted based on the lane line connection results, and then a high-precision map can be constructed based on the extracted road surface information. For example, the road surface can be segmented based on the endpoints of the lane lines, and information such as road type, road shape, lane line type and direction can be extracted from the segmented road surface.

[0096] Using the above method, lane lines can be connected based on the vehicle's driving trajectory. For discontinuous visual lane lines, multiple discontinuous visual lane lines can be connected into a continuous lane line. Furthermore, connecting these lane lines can also solve the problem of missed detections of visual lane lines. Thus, constructing a target map based on the lane line connection results can improve the map construction accuracy compared to directly using visual lane lines.

[0097] Figure 2 It is based on Figure 1 The illustrated embodiment shows a flowchart of a map construction method, such as... Figure 2 As shown, step S12 includes the following sub-steps:

[0098] In step S121, multiple lane line connection windows are established based on the driving trajectory.

[0099] In this step, multiple consecutive trajectory points can be determined from the driving trajectory. Then, for each trajectory point, a lane line connection window is established with the trajectory point as the center and the length direction perpendicular to the tangent of the trajectory point on the driving trajectory as the length direction. This lane line connection window can be understood as a series of sliding windows arranged in the order of the positions of the trajectory points on the driving trajectory. This disclosure can use this series of sliding windows to achieve the connection of visual lane lines.

[0100] In determining multiple consecutive trajectory points from a driving trajectory, the driving trajectory can be sampled at equal intervals to obtain multiple consecutive trajectory points. Furthermore, in actual lane line modeling scenarios, the sampling interval of the driving trajectory can be used to control the number of lane line connection windows generated, thus balancing the accuracy and efficiency of lane line modeling.

[0101] In addition, the lane line connection window can be a line segment with the trajectory point as the midpoint, the direction perpendicular to the tangent of the trajectory point on the driving trajectory as the length direction, and the road width of the road corresponding to the driving trajectory as the length of the line segment, or it can be a rectangle with the trajectory point as the midpoint, the direction perpendicular to the tangent of the trajectory point on the driving trajectory as the length direction, the road width of the road corresponding to the driving trajectory as the length, and the width as a preset width.

[0102] In step S122, the visual lane lines are connected through the lane line connection window to obtain the lane line connection result.

[0103] Figure 3 It is based on Figure 2 The illustrated embodiment presents a flowchart of a map construction method. In this disclosure, the visual lane lines may include multiple lines. Figure 3 As shown, step S122 includes the following sub-steps:

[0104] In step S1221, for each lane line connection window, a first lane line intersecting with the lane line connection window is determined from among the plurality of visual lane lines.

[0105] Understandably, there can be at least one lane line.

[0106] In step S1222, the first lane lines that intersect with each lane line connection window are connected sequentially according to the order of the plurality of lane line connection windows to obtain the lane line connection result.

[0107] In one implementation of this step, each lane line connection window can be traversed sequentially according to the order of multiple lane line connection windows, and the lane line connection step can be executed cyclically until all multiple lane line connection windows have been traversed. The lane line to be connected at the end of the loop is then taken as the lane line connection result.

[0108] As the lane line connection step is executed cyclically, the lane line to be connected is continuously connected. Thus, at the end of the cycle, the lane line to be connected becomes at least one complete lane line after connection. Therefore, the lane line connection result includes at least one continuous complete lane line.

[0109] The lane line connection step may include: taking the first lane line intersecting with the first lane line connection window among the plurality of lane line connection windows as the lane line to be connected, and taking the next lane line connection window of the first lane line connection window as the current traversal window; connecting the first lane line intersecting with the current traversal window with the lane line to be connected, and taking the connected lane line as the updated lane line to be connected; and taking the next lane line connection window of the current traversal window as the updated current traversal window.

[0110] The first lane line connection window here can be the lane line connection window corresponding to the preset starting trajectory point on the driving trajectory. The first lane line that intersects with the first lane line connection window can be directly used as the lane line to be connected. The lane line to be connected can also include at least one.

[0111] For example, Figure 4 This is a schematic diagram illustrating a process of connecting lane lines based on a sliding window, according to an exemplary embodiment. Figure 4 As shown, firstly, multiple lane line connection windows are established based on multiple trajectory points on the driving trajectory (such as...). Figure 4 As shown in Figure a), the visual lane lines are connected through multiple lane line connection windows to obtain the lane line connection result. During the process of connecting the visual lane lines by executing the lane line connection steps, each lane line connection window can be traversed sequentially, such as... Figure 4 As shown in Figure b, the lane line intersecting with the first lane line connection window encountered during traversal can be taken as the lane line to be connected, and the next lane line connection window after the first lane line connection window can be taken as the current traversal window. In this way, the first lane line intersecting with the current traversal window can be connected to the lane line to be connected (e.g., ...). Figure 4 (As shown in Figure c), the connected lane lines are used as the updated lane lines to be connected; the next lane line connection window of the current traversal window is used as the updated current traversal window. The above example is only illustrative and this disclosure does not limit it.

[0112] In addition, during the execution of the lane line connection step, the first lane line intersecting with the current traversal window can be connected to the lane line to be connected in the following manner: for each lane line to be connected, a second lane line matching the lane line to be connected is determined from at least one first lane line intersecting with the current traversal window; the lane line to be connected is connected to the second lane line.

[0113] Figure 5 It is based on Figure 3 The illustrated embodiment shows a flowchart of a map construction method. For example... Figure 5 As shown, in step S1222, the second lane line matching the lane line to be connected can be determined from at least one first lane line intersecting with the current traversal window through the following sub-steps:

[0114] In step S12221, for each first lane line intersecting with the current traversal window, if it is determined that the first lane line matches the lane line to be connected in at least one preset matching dimension, the first lane line is used as the second lane line matching the lane line to be connected; the preset matching dimension includes at least one of the following: lane line identifier matching, lane line type matching, lane line distance matching, and lane line angle matching.

[0115] In other words, for each lane line to be connected, this disclosure, in the process of determining the second lane line matching the lane line to be connected from multiple first lane lines intersecting with the current traversal window, can perform matching from four dimensions: lane line identifier, lane line type, distance between lane lines, and angle between lane lines. If at least one of these four dimensions matches, it can be considered that the second lane line matching the lane line to be connected has been found. Of course, in practical application scenarios, to ensure the accuracy of matching, it can be considered that the second lane line matching the lane line to be connected has been found only if all four dimensions match.

[0116] In one possible implementation of this step, if the identifier of the first lane line is the same as the identifier of the lane line to be connected, then the identifiers of the first lane line and the lane line to be connected are determined to match; if the type of the first lane line is the same as the type of the lane line to be connected, then the types of the first lane line and the lane line to be connected are determined to match; a second distance between the first lane line and the lane line to be connected is determined, and if the second distance is less than or equal to a preset distance threshold, then the distance between the first lane line and the lane line to be connected is determined to match; the angle between the first lane line and the lane line to be connected is determined, and if the angle is less than or equal to a preset angle threshold, then the angle between the first lane line and the lane line to be connected is determined to match.

[0117] For example, regarding lane line identifier matching, if the identifier of the first lane line is the same as the identifier of the lane line to be connected, the identifier matching cost between the first lane line and the lane line to be connected can be recorded as 0; if the identifier of the first lane line is different from the identifier of the lane line to be connected, the identifier matching cost between the first lane line and the lane line to be connected can be recorded as 1. Regarding lane line type matching, if the type of the first lane line is the same as the type of the lane line to be connected, the type matching cost between the first lane line and the lane line to be connected can be recorded as 0; if the type of the first lane line is different from the type of the lane line to be connected, the type matching cost between the first lane line and the lane line to be connected can be recorded as 1. Regarding lane line distance matching, a second distance between the lane line to be connected and each first lane line can be calculated. If the second distance is less than or equal to a preset distance threshold, it is determined that the first lane line and the lane line to be connected are matched at a distance, and the second distance between the lane line to be connected and the first lane line is recorded as a distance matching cost. In calculating the second distance between the lane line to be connected and the first lane line, the first intersection point between the lane line to be connected and the currently traversed serial port can be determined by extending the lane line to be connected. Then, the second intersection point between the first lane line and the currently traversed serial port can be determined. The distance between the first and second intersection points can then be used as the second distance between the lane line to be connected and the first lane line. For lane line angle matching, the angle between the lane line to be connected and each first lane line within the window can be calculated. If the angle is less than or equal to a preset angle threshold, the angle between the connected lane line and the first lane line is determined to be matched, and the angle between them is recorded as the angle matching cost.

[0118] It should be noted that if only one second lane line is found to match the lane line to be connected, the lane line to be connected can be connected to the matching second lane line. However, in actual application scenarios, there may be multiple second lane lines that match the lane line to be connected in at least one preset matching dimension. In this case, it is necessary to further select the lane line with the highest matching degree from the multiple second lane lines as the third lane line and connect it to the lane line to be connected.

[0119] In one possible implementation, when multiple second lane lines are determined to match the lane line to be connected, the total cost of each second lane line and the lane line to be connected under at least one preset matching dimension can be determined, wherein the smaller the total cost, the higher the matching degree between the second lane line and the lane line to be connected; thus, the second lane line with the smallest total cost to be connected can be selected from the multiple second lane lines as the third lane line to be matched with the lane line to be connected, and then the lane line to be connected is connected to the third lane line.

[0120] Specifically, in determining the total cost of each second lane line and the lane line to be connected under at least one preset matching dimension, the cost value of the second lane line and the lane line to be connected under each preset matching dimension can be obtained for each second lane line. The sum of the cost values ​​under each preset matching dimension is taken as the total cost of the second lane line and the lane line to be connected under at least one preset matching dimension. Furthermore, in calculating this total cost, different preset weighting factors can be set for each preset matching dimension. Then, based on the cost value of the second lane line and the lane line to be connected under each preset matching dimension and their respective preset weighting factors, the total cost of each second lane line and the lane line to be connected is calculated.

[0121] For example, suppose the lane to be connected is lane a. There are two lanes that match lane a in all four preset matching dimensions, namely lane b and lane c. The preset weighting factors for the four preset matching dimensions—lane identifier, lane type, lane distance, and lane angle—are 100, 10, 1, and 1, respectively. The calculated matching costs for lane a and lane b—namely, x1, y1, z1, and k1—are x1, y1, z1, and k1, respectively. The matching costs for lane c (identity, type, distance, and angle) are x2, y2, z2, and k2, respectively. Therefore, the total cost between lanes a and b is A1 = 100*x1 + 10*y1 + 1*z1 + 1*k1, and the total cost between lanes a and c is A2 = 100*x2 + 10*y2 + 1*z2 + 1*k2. Thus, the second lane with the smaller total cost between A1 and A2 is selected as the third lane. The above example is merely illustrative and is not intended to limit the scope of this disclosure.

[0122] It should be noted that, for each lane line to be connected, except for the first lane line connection window, this disclosure requires adherence to several matching criteria during the matching process of multiple first lane lines intersecting with that lane line connection window with the lane line to be connected. These criteria include one-to-one matching, sequential matching, and minimum total cost matching. One-to-one matching means that one lane line to be connected is matched with one first lane line. Sequential matching means that the lane line to be connected and the first lane line cannot cross-match; here, sequential matching refers to performing the matching in the order of the intersection points of the lane lines with the current traversal window from top to bottom. Minimum total cost matching means that if a one-to-many matching occurs, a more accurate one-to-one matching result can be obtained based on the criterion of minimizing the total cost.

[0123] It should also be noted that, considering the possibility of false detection of visual lane lines, i.e., identifying objects that are not lane lines as visual lane lines, this disclosure can also perform a deduplication operation on each lane line connection window after determining the multiple first lane lines that intersect with the lane line connection window, in order to solve the problem of false detection of visual lane lines.

[0124] Therefore, in one possible implementation of this disclosure, for each lane line connection window, a first distance between every two adjacent lane lines in at least one first lane line intersecting with the lane line connection window can be determined; then, a deduplication operation is performed on the first lane lines intersecting with the lane line connection window based on the first distance.

[0125] For example, when the first distance is determined to be less than or equal to a preset distance threshold, it indicates that one of the two lane lines corresponding to the first distance is a duplicate lane line. In this case, only the longest lane line can be retained. Alternatively, in calculating the first distance between two adjacent lane lines, the distance between the two intersection points of these two lane lines and the two intersection points of the lane line connection window can also be used as the first distance.

[0126] Figure 6 It is based on Figure 1 The illustrated embodiment shows a flowchart of a map construction method, such as... Figure 6 As shown, step S13 includes the following sub-steps:

[0127] In step S131, the lane line connection result is corrected and connected to obtain the target lane line.

[0128] This step primarily involves correcting the lane lines corresponding to pre-defined bifurcation scenarios such as guide vanes and acceleration / deceleration lanes. As mentioned above, in actual application scenarios, multiple second lane lines may match the lane line to be connected. In this case, it is necessary to further select the lane line with the highest matching degree from the multiple second lane lines as the third lane line to connect with the lane line to be connected. The situation where a lane line to be connected matches multiple second lane lines may correspond to pre-defined bifurcation scenarios such as guide vanes and acceleration / deceleration lanes on the road. In this scenario, the lane lines are usually "Y" shaped, meaning three lane lines are connected at the intersection. For "Y" shaped lane lines, there may also be situations where a lane line to be connected matches multiple second lane lines. If only one lane line (i.e., the third lane line) is selected to connect with the lane line to be connected, it obviously does not conform to the actual lane line geometry. Therefore, by performing this step, the lane lines corresponding to pre-defined bifurcation scenarios such as guide vanes and acceleration / deceleration lanes can be corrected and connected to obtain the target lane line.

[0129] In this step, the lane line geometry topology corresponding to the lane line connection result can be determined; if the lane line connection result includes a fourth lane line corresponding to a preset bifurcation scenario based on the lane line geometry topology, the fourth lane line is corrected and connected; the lane line connection result obtained after correcting and connecting the fourth lane line is used as the target lane line.

[0130] The preset fork scenario includes a guide vane and / or a speed change lane. The fourth lane line comprises multiple lanes. During the correction and connection process of the fourth lane lines, the intersection point corresponding to the fourth lane line can be determined. The intersection point is the point where multiple fourth lane lines intersect. At least one fifth lane line not connected to the intersection point is determined from the multiple fourth lane lines. The lane line among the at least one fifth lane line that is closest to the intersection point is connected to the intersection point.

[0131] In addition, when determining the lane line geometry topology corresponding to the lane line connection result, the relative positional relationship between adjacent lane lines can be determined based on the positional information of each lane line in the lane line connection result, and then the fourth lane line of the "Y" shaped geometry topology can be determined based on the relative positional relationship.

[0132] In step S132, the target map is constructed based on the target lane lines.

[0133] Before performing this step, this disclosure may also perform lane length threshold filtering and / or moving average filtering on the target lane lines to obtain filtered lane lines; and construct the target map based on the filtered lane lines.

[0134] Lane length threshold filtering can filter out excessively short lane lines, while moving average filtering can produce smooth lane lines. Thus, building a target map based on the filtered lane lines can improve the accuracy of map construction.

[0135] By adopting the above method and combining lane line connection windows and dynamic lane line matching rules, the accuracy of lane line modeling can be effectively improved, thereby improving the accuracy of the constructed high-precision map. This is of great significance for autonomous driving and intelligent transportation systems. It can not only improve the performance and efficiency of autonomous driving and intelligent transportation systems, but also improve the driving experience, enhance driving safety, and provide more data support for intelligent traffic management, thus bringing a more convenient and comfortable traffic environment for people's travel.

[0136] Figure 7 This is a block diagram illustrating a map building apparatus according to an exemplary embodiment, such as... Figure 7 As shown, the device includes:

[0137] The acquisition module 701 is configured to acquire the vehicle's driving trajectory and the visual lane lines on the road surface where the driving trajectory is located, wherein the visual lane lines are obtained by recognizing the road surface image.

[0138] The connection module 702 is configured to connect the visual lane lines according to the driving trajectory to obtain the lane line connection result;

[0139] Map building module 703 is configured to build a target map based on the lane line connection results.

[0140] Optionally, the connection module 702 is configured to establish multiple lane line connection windows based on the driving trajectory; and to connect the visual lane lines through the lane line connection windows to obtain the lane line connection result.

[0141] Optionally, the connection module 702 is configured to determine multiple consecutive trajectory points from the driving trajectory; for each trajectory point, the lane line connection window is established with the trajectory point as the center and the length direction perpendicular to the tangent of the trajectory point on the driving trajectory as the length direction.

[0142] Optionally, the visual lane lines include multiple lines, and the connection module 702 is configured to, for each lane line connection window, determine a first lane line that intersects with the lane line connection window from the multiple visual lane lines; and connect the first lane lines that intersect with each lane line connection window in sequence according to the order of the multiple lane line connection windows to obtain the lane line connection result.

[0143] Optionally, the connection module 702 is configured to sequentially traverse each lane line connection window in the order of the plurality of lane line connection windows, and repeatedly execute the lane line connection steps until all the plurality of lane line connection windows have been traversed; and take the lane line to be connected at the end of the loop as the lane line connection result.

[0144] The lane line connection step includes: taking the first lane line intersecting with the first lane line connection window among the plurality of lane line connection windows as the lane line to be connected, and taking the next lane line connection window of the first lane line connection window as the current traversal window; connecting the first lane line intersecting with the current traversal window with the lane line to be connected, and taking the connected lane line as the updated lane line to be connected; and taking the next lane line connection window of the current traversal window as the updated current traversal window.

[0145] Optionally, the connection module 702 is further configured to, for each lane line connection window, determine a first distance between every two adjacent lane lines in at least one of the first lane lines intersecting with the lane line connection window; and perform a deduplication operation on the first lane lines intersecting with the lane line connection window based on the first distance.

[0146] Optionally, the first lane line includes at least one lane line, and the lane line to be connected includes at least one lane line; the connection module 702 is configured to, for each lane line to be connected, determine a second lane line matching the lane line to be connected from at least one first lane line intersecting with the current traversal window; and connect the lane line to be connected to the second lane line.

[0147] Optionally, the connection module 702 is configured to, for each first lane line intersecting with the current traversal window, if it is determined that the first lane line matches the lane line to be connected in at least one preset matching dimension, use the first lane line as the second lane line matching the lane line to be connected; wherein the preset matching dimension includes at least one of the following: lane line identifier matching, lane line type matching, lane line distance matching, and lane line angle matching.

[0148] Optionally, if it is determined that the identifier of the first lane line is the same as the identifier of the lane line to be connected, it is determined that the identifier of the first lane line matches the identifier of the lane line to be connected.

[0149] If it is determined that the type of the first lane line is the same as the type of the lane line to be connected, then the types of the first lane line and the lane line to be connected are matched.

[0150] Determine a second distance between the first lane line and the lane line to be connected, and if the second distance is less than or equal to a preset distance threshold, determine that the distance between the first lane line and the lane line to be connected is matched;

[0151] Determine the angle between the first lane line and the lane line to be connected, and if the angle is less than or equal to a preset angle threshold, determine that the angles of the first lane line and the lane line to be connected are matched.

[0152] Optionally, the connection module 702 is further configured to, when it is determined that there are multiple second lane lines matching the lane line to be connected, determine the total cost of each second lane line and the lane line to be connected under the at least one preset matching dimension, wherein the smaller the total cost, the higher the matching degree between the second lane line and the lane line to be connected; select the second lane line with the smallest total cost among the multiple second lane lines as the third lane line matching the lane line to be connected; and connect the lane line to be connected with the third lane line.

[0153] Optionally, the connection module 702 is configured to, for each second lane line, obtain the cost value of the second lane line and the lane line to be connected under each preset matching dimension; and use the sum of the cost values ​​under each preset matching dimension as the total cost of the second lane line and the lane line to be connected under the at least one preset matching dimension.

[0154] Optionally, the map building module 703 is configured to correct and connect the lane line connection results to obtain target lane lines; and to build the target map based on the target lane lines.

[0155] Optionally, the map building module 703 is configured to determine the lane line geometry topology corresponding to the lane line connection result; if the lane line connection result is determined to include a fourth lane line corresponding to a preset fork scenario based on the lane line geometry topology, the fourth lane line is corrected and connected; and the lane line connection result obtained after correcting and connecting the fourth lane line is used as the target lane line.

[0156] Optionally, the fourth lane line includes multiple lane lines, and the map building module 703 is configured to determine the intersection point corresponding to the fourth lane line, wherein the intersection point is the intersection point of multiple fourth lane lines; determine at least one fifth lane line from the multiple fourth lane lines that is not connected to the intersection point; and connect the lane line from the at least one fifth lane line that is closest to the intersection point to the intersection point.

[0157] Optionally, the preset bifurcation scenario includes a guide tip and / or a speed-changing lane.

[0158] Optionally, the map building module 703 is configured to perform lane length threshold filtering and / or moving average filtering on the target lane lines to obtain filtered lane lines; and to build the target map based on the filtered lane lines.

[0159] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0160] This disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the map construction method provided in this disclosure.

[0161] Figure 8This is a block diagram illustrating a vehicle according to an exemplary embodiment. For example, vehicle 800 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicle. Vehicle 800 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0162] Reference Figure 8 The vehicle 800 may include various subsystems, such as an infotainment system 810, a perception system 820, a decision control system 830, a drive system 840, and a computing platform 850. The vehicle 800 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of the vehicle 800 can be interconnected via wired or wireless means.

[0163] In some embodiments, the infotainment system 810 may include a communication system, an entertainment system, and a navigation system, etc.

[0164] The perception system 820 may include several sensors for sensing information about the environment surrounding the vehicle 800. For example, the perception system 820 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0165] The decision control system 830 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0166] The drive system 840 may include components that provide powered motion to the vehicle 800. In one embodiment, the drive system 840 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0167] Some or all of the functions of the vehicle 800 are controlled by a computing platform 850. The computing platform 850 may include at least one processor 851 and a memory 852, the processor 851 being able to execute instructions 853 stored in the memory 852.

[0168] The processor 851 can be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0169] The memory 852 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0170] In addition to instruction set 853, memory 852 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 852 can be used by computing platform 850.

[0171] In this embodiment of the disclosure, processor 851 may execute instruction 853 to complete all or part of the steps of the map construction method described above.

[0172] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the map construction method described above when executed by the programmable device.

[0173] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0174] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0175] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding the specification and drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0176] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0177] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

[0178] In the above detailed description, reference has been made to the accompanying drawings, which illustrate specific aspects of this disclosure by way of illustration. In this regard, terms indicating direction or positional relationship, such as “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential,” are used with reference to the orientation of the described figures. Since components of the described device can be positioned in multiple different orientations, directional terms are used for illustrative purposes and not for limitation. It should be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concept of this disclosure. Therefore, the following detailed description should not be considered limiting.

[0179] It should be understood that, unless otherwise specifically indicated, features of various embodiments of this disclosure described herein can be combined with each other. As used herein, the term “and / or” includes any one of the relevant listed items and any combination of any two or more; similarly, “at least one of…” includes any one of the relevant listed items and any combination of any two or more.

[0180] It should be understood that, unless otherwise expressly specified and limited, the terms "joining," "attaching," "installing," "connecting," "linking," "fixing," etc., used in the embodiments of this disclosure should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms herein based on the specific circumstances.

[0181] Furthermore, the term "above" as used herein with respect to components, elements, or material layers formed or located "above" a surface may be used to indicate that the component, element, or material layer is "indirectly" positioned (e.g., placed, formed, deposited, etc.) on the surface such that one or more additional components, elements, or layers are arranged between the surface and the component, element, or material layer. However, the term "above" as used with respect to components, elements, or material layers formed or located "above" a surface may also optionally have a specific meaning: that the component, element, or material layer is "directly" positioned (e.g., placed, formed, deposited, etc.) on the surface, for example, in direct contact with the surface.

[0182] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Rather, these terms are used only to distinguish one component, part, region, layer, or section from another. Therefore, without departing from the teachings of the examples described herein, the first component, part, region, layer, or section mentioned in the examples may also be referred to as the second component, part, region, layer, or section. Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include at least one of that feature. In the description herein, “a plurality” means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0183] It should be understood that spatial relative terms, such as “above,” “upper,” “below,” and “lower,” are used herein to describe the relationship between one element and another shown in the figures. In addition to the orientation depicted in the figures, these spatial relative terms are also intended to encompass different orientations of the device in use or operation. For example, if the device in the figures is flipped, an element described as “above” or “upper” relative to another element would be “below” or “lower” relative to that other element. Thus, depending on the spatial orientation of the device, the term “above” encompasses both above and below orientations. Devices may have other orientations (e.g., rotated 90 degrees or in other orientations), and the spatial relative terms used herein should be interpreted accordingly.

Claims

1. A map construction method, characterized in that, include: The vehicle's driving trajectory and the visual lane lines on the road surface where the driving trajectory is located are obtained, and the visual lane lines are obtained by recognizing the road surface image; The visual lane lines are connected according to the driving trajectory to obtain the lane line connection result; Construct a target map based on the lane line connection results.

2. The method according to claim 1, characterized in that, The step of connecting the visual lane lines according to the driving trajectory to obtain the lane line connection result includes: Multiple lane line connection windows are established based on the driving trajectory; The visual lane lines are connected through the lane line connection window to obtain the lane line connection result.

3. The method according to claim 2, characterized in that, The step of establishing multiple lane line connection windows based on the driving trajectory includes: Multiple consecutive trajectory points are determined from the driving trajectory; For each trajectory point, a lane line connection window is established with the trajectory point as the center and the length direction perpendicular to the tangent of the trajectory point on the driving trajectory as the length direction.

4. The method according to claim 2, characterized in that, The visual lane lines include multiple lines, and connecting the visual lane lines through the lane line connection window includes: For each lane line connection window, a first lane line intersecting with the lane line connection window is determined from among the plurality of visual lane lines; The first lane lines that intersect with each lane line connection window are connected sequentially according to the order of the plurality of lane line connection windows to obtain the lane line connection result.

5. The method according to claim 4, characterized in that, The process of connecting the first lane lines that intersect with each lane line connection window sequentially according to the order of the plurality of lane line connection windows to obtain the lane line connection result includes: The multiple lane line connection windows are traversed sequentially according to their order, and the lane line connection steps are executed repeatedly until all the multiple lane line connection windows have been traversed. The lane lines to be connected at the end of the loop are taken as the lane line connection results; The lane line connection step includes: The first lane line that intersects with the first lane line connection window among the plurality of lane line connection windows is taken as the lane line to be connected, and the next lane line connection window of the first lane line connection window is taken as the current traversal window; Connect the first lane line that intersects with the current traversal window to the lane line to be connected, and use the connected lane line as the updated lane line to be connected. The next lane line connection window of the current traversal window is used as the updated current traversal window.

6. The method according to claim 4, characterized in that, The method further includes: For each lane line connection window, determine a first distance between every two adjacent lane lines in at least one of the first lane lines that intersects with the lane line connection window; Based on the first distance, perform a deduplication operation on the first lane lines that intersect with the lane line connection window.

7. The method according to claim 5, characterized in that, The first lane line includes at least one lane line, and the lane line to be connected includes at least one lane line; The step of connecting the first lane line that intersects with the current traversal window to the lane line to be connected includes: For each lane line to be connected, a second lane line matching the lane line to be connected is determined from at least one first lane line that intersects with the current traversal window; Connect the lane line to be connected to the second lane line.

8. The method according to claim 7, characterized in that, Determining the second lane line that matches the lane line to be connected from at least one first lane line intersecting with the current traversal window includes: For each first lane line that intersects with the current traversal window, if it is determined that the first lane line matches the lane line to be connected in at least one preset matching dimension, the first lane line is used as the second lane line that matches the lane line to be connected. The preset matching dimension includes at least one of the following: Lane marking matching, lane type matching, lane distance matching, and lane angle matching.

9. The method according to claim 8, characterized in that, If it is determined that the identifier of the first lane line is the same as the identifier of the lane line to be connected, it is determined that the identifier of the first lane line matches the identifier of the lane line to be connected. If it is determined that the type of the first lane line is the same as the type of the lane line to be connected, then the types of the first lane line and the lane line to be connected are matched. Determine a second distance between the first lane line and the lane line to be connected, and if the second distance is less than or equal to a preset distance threshold, determine that the distance between the first lane line and the lane line to be connected is matched; Determine the angle between the first lane line and the lane line to be connected, and if the angle is less than or equal to a preset angle threshold, determine that the angles of the first lane line and the lane line to be connected are matched.

10. The method according to claim 8, characterized in that, The method further includes: When it is determined that there are multiple second lane lines that match the lane line to be connected, the total cost of each second lane line and the lane line to be connected under the at least one preset matching dimension is determined, wherein the smaller the total cost, the higher the matching degree between the second lane line and the lane line to be connected. Select the second lane line with the minimum total cost from multiple second lane lines as the third lane line to be matched with the lane line to be connected; Connect the lane line to be connected to the third lane line.

11. The method according to claim 10, characterized in that, The total cost of determining each of the second lane lines and the lane lines to be connected under the at least one preset matching dimension includes: For each second lane line, obtain the cost value of the second lane line and the lane line to be connected under each preset matching dimension; The sum of the cost values ​​under each preset matching dimension is taken as the total cost of the second lane line and the lane line to be connected under at least one preset matching dimension.

12. The method according to any one of claims 1-11, characterized in that, The step of constructing the target map based on the lane line connection results includes: The lane line connection results are corrected and connected to obtain the target lane line; The target map is constructed based on the target lane lines.

13. The method according to claim 12, characterized in that, The step of correcting and connecting the lane line connection results to obtain the target lane line includes: Determine the lane line geometry topology corresponding to the lane line connection results; If the lane line connection result is determined to include a fourth lane line corresponding to a preset fork scenario based on the lane line geometry topology, the fourth lane line is corrected and connected. The lane line connection result obtained after correcting and connecting the fourth lane line is taken as the target lane line.

14. The method according to claim 13, characterized in that, The fourth lane line includes multiple lines, and the correction and connection of the fourth lane line includes: Determine the intersection point corresponding to the fourth lane line, wherein the intersection point is the point where multiple fourth lane lines intersect; Determine at least one fifth lane line from among the plurality of said fourth lane lines that is not connected to the intersection; Connect the lane line that is closest to the intersection point from the at least one fifth lane line to the intersection point.

15. The method according to claim 13, characterized in that, The preset bifurcation scenarios include guide tips and / or speed change lanes.

16. The method according to claim 12, characterized in that, The method further includes: The target lane line is subjected to lane line length threshold filtering and / or moving average filtering to obtain the filtered lane line. The target map is constructed based on the filtered lane lines.

17. A map building device, characterized in that, include: The acquisition module is configured to acquire the vehicle's driving trajectory and the visual lane lines on the road surface where the driving trajectory is located, wherein the visual lane lines are obtained by recognizing the road surface image; The connection module is configured to connect the visual lane lines according to the driving trajectory to obtain the lane line connection result; The map building module is configured to build a target map based on the lane line connection results.

18. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to perform the steps of the method according to any one of claims 1-16.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program performs the steps of the method described in any one of claims 1-16.

20. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1-16.

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