Methods, apparatus, computer equipment and storage media for determining passable lane areas

Abstract

This application relates to a method, apparatus, computer device, and storage medium for determining a passable lane area. The method includes: determining at least one candidate lane segment corresponding to a target road segment covered by a navigation path in the current navigation scenario; for each candidate lane segment, determining its corresponding entry endpoint and exit endpoint; determining the earliest possible entry position of the candidate lane segment based on the allowed entry status of its corresponding entry endpoint in the current navigation scenario; and determining the latest possible exit position of the candidate lane segment based on the allowed exit status of its corresponding exit endpoint in the current navigation scenario; and determining the passable lane area corresponding to the target road segment based on the earliest possible entry position and the corresponding latest possible exit position of each candidate lane segment. This method can accurately reflect the topological relationship between each candidate lane segment and other lane segments, improving the accuracy of passable lane area determination.

Description

Technical Field

[0001] This application relates to the field of map technology, and in particular to a method, apparatus, computer equipment, and storage medium for determining a passable lane area. Background Technology

[0002] With the development of computer technology, navigation map technology has emerged, which can guide users to drive on the right road and provide convenience. Therefore, it is crucial to accurately determine the passable areas on the navigation route.

[0003] In traditional technologies, navigation maps can only construct passable areas based on road-level topological relationships, failing to accurately reflect lane details or the topological relationships between parallel lanes. Therefore, while traditional technologies can guide users, they suffer from coarse-grained and insufficiently refined granularity in representing passable road areas. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer equipment, and storage medium for determining passable lane areas that can accurately determine lane-level passable areas, in order to address the aforementioned technical problems.

[0005] Firstly, this application provides a method for determining a passable lane area, including:

[0006] Determine at least one candidate lane segment corresponding to the target road segment covered by the navigation path in the current navigation scenario;

[0007] For each candidate lane segment, determine the corresponding entry endpoint and exit endpoint;

[0008] Based on the permitted entry information of the corresponding entry endpoints of the candidate lane segments in the current navigation scenario, determine the earliest accessible position of the candidate lane segment; and,

[0009] Based on the allowable exit status of the exit endpoints of the candidate lane segments in the current navigation scenario, determine the latest exit position of the candidate lane segments;

[0010] Based on the earliest accessible entry position and the corresponding latest exit position of each candidate lane segment, the passable lane area corresponding to the target road segment is determined.

[0011] In one embodiment, determining the earliest accessible position for each lane line of a candidate lane segment based on the permitted entry status of the entry endpoint corresponding to the candidate lane segment in the current navigation scenario includes: if entry to the entry endpoint corresponding to the candidate lane segment is permitted in the current navigation scenario, then the entry endpoint of the candidate lane segment is taken as the earliest accessible position for each lane line of the candidate lane segment; if entry to the entry endpoint corresponding to the candidate lane segment is not permitted in the current navigation scenario, then for any first lane line corresponding to the candidate lane segment, the earliest accessible position of the candidate lane segment on the first lane line is determined based on the earliest accessible position of the second lane line of the adjacent lane segment of the candidate lane segment; wherein the first lane line and the second lane line are located on the same azimuth side of their respective lanes.

[0012] In one embodiment, determining the earliest accessible position of a candidate lane segment on a first lane line based on the earliest accessible position of the second lane line of an adjacent lane segment of the candidate lane segment includes: designating the orientation side of the first lane line on the candidate lane segment as the first orientation side; determining the earliest accessible position of the candidate lane segment on the first lane line based on a position point located after the earliest accessible position on the second lane line at the permitted lane change position of the first lane line; wherein the second lane line is the lane line of a first reference lane segment on the first orientation side; the first reference lane segment is adjacent to the candidate lane segment on the first orientation side.

[0013] In one embodiment, the latest possible exit position for each lane line of the candidate lane segment is determined based on the allowable exit status of the exit endpoint corresponding to the candidate lane segment in the current navigation scenario. This includes: if exiting the exit endpoint corresponding to the candidate lane segment is allowed in the current navigation scenario, then the exit endpoint of the candidate lane segment is taken as the latest possible exit position for each lane line of the candidate lane segment; if exiting the exit endpoint corresponding to the candidate lane segment is not allowed in the current navigation scenario, then for any third lane line corresponding to the candidate lane segment, the latest possible exit position of the candidate lane segment on the third lane line is determined based on the latest possible exit position of the fourth lane line of the adjacent lane segment of the candidate lane segment; wherein the third lane line and the fourth lane line are located on the same azimuth side of their respective lanes.

[0014] In one embodiment, determining the latest possible exit position of a candidate lane segment on a third lane line based on the latest possible exit position of the fourth lane line of an adjacent lane segment of the candidate lane segment includes: designating the orientation side of the third lane line on the candidate lane segment as the second orientation side; determining the latest possible exit position of the candidate lane segment on the third lane line based on a position point on the third lane line that is located before the latest possible exit position on the fourth lane line at the permitted lane change position; wherein the fourth lane line is the lane line of the second reference lane segment on the second orientation side; the second reference lane segment is adjacent to the candidate lane segment on the second orientation side.

[0015] In one embodiment, the passable lane area corresponding to the target road segment is determined based on the earliest accessible position and the corresponding latest exit position of each candidate lane segment, including: for each candidate lane segment, the earlier position among the earliest accessible positions of each lane line corresponding to the candidate lane segment is taken as the entry variable lane position of each lane line corresponding to the candidate lane segment; and the later position among the latest exit positions of each lane line corresponding to the candidate lane segment is taken as the exit variable lane position of each lane line corresponding to the candidate lane segment; and the lane area constructed by the entry variable lane position and the exit variable lane position of each lane line on at least one candidate lane segment is taken as the passable lane area corresponding to the target road segment.

[0016] In one embodiment, the lane areas constructed by the entry and exit variable lane positions on each lane line of at least one candidate lane segment are used as the passable lane areas corresponding to the target road segment. This includes: using the lane areas constructed by the entry and exit variable lane positions on each lane line of at least one candidate lane segment as the initial passable area; if the initial passable area corresponds to a single-sided lane weaving situation, determining the boundary line to be adjusted and the direction to be adjusted according to the lane weaving type; rotating the boundary line to be adjusted by a preset angle along the direction to be adjusted with the weaving point as the center to determine the area to be eliminated; eliminating the area to be eliminated from the initial passable area to obtain the passable lane areas corresponding to the target road segment.

[0017] In one embodiment, determining the boundary line to be adjusted and the direction to be adjusted based on the lane weaving type includes: if the lane weaving type is a merging type, then the boundary line of the merging lane in the exiting direction in the initial passable area is taken as the boundary line to be adjusted, and the direction opposite to the merging direction is taken as the direction to be adjusted; if the lane weaving type is a diverging type, then the boundary line of the diverging lane in the entering direction in the initial passable area is taken as the boundary line to be adjusted, and the direction with the same direction as the diverging direction is taken as the direction to be adjusted.

[0018] Secondly, this application also provides a device for determining a passable lane area, comprising:

[0019] The first determining module is used to determine at least one candidate lane segment corresponding to the target road segment covered by the navigation path in the current navigation scenario;

[0020] The second determining module is used to determine the entry endpoint and exit endpoint corresponding to each candidate lane segment.

[0021] The third determining module is used to determine the earliest accessible position of a candidate lane segment based on the permitted entry status of the corresponding entry endpoints of the candidate lane segment in the current navigation scenario; and,

[0022] The fourth determination module is used to determine the latest possible exit position of the candidate lane segment based on the allowable exit status of the exit endpoints of the candidate lane segment in the current navigation scenario.

[0023] The second determining module is used to determine the passable lane area corresponding to the target road segment based on the earliest accessible position and the corresponding latest exit position of each candidate lane segment.

[0024] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0025] Determine at least one candidate lane segment corresponding to the target road segment covered by the navigation path in the current navigation scenario;

[0026] For each candidate lane segment, determine the corresponding entry endpoint and exit endpoint;

[0027] Based on the permitted entry information of the corresponding entry endpoints of the candidate lane segments in the current navigation scenario, determine the earliest accessible position of the candidate lane segment; and,

[0028] Based on the allowable exit status of the exit endpoints of the candidate lane segments in the current navigation scenario, determine the latest exit position of the candidate lane segments;

[0029] Based on the earliest accessible entry position and the corresponding latest exit position of each candidate lane segment, the passable lane area corresponding to the target road segment is determined.

[0030] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0031] Determine at least one candidate lane segment corresponding to the target road segment covered by the navigation path in the current navigation scenario;

[0032] For each candidate lane segment, determine the corresponding entry endpoint and exit endpoint;

[0033] Based on the permitted entry information of the corresponding entry endpoints of the candidate lane segments in the current navigation scenario, determine the earliest accessible position of the candidate lane segment; and,

[0034] Based on the allowable exit status of the exit endpoints of the candidate lane segments in the current navigation scenario, determine the latest exit position of the candidate lane segments;

[0035] Based on the earliest accessible entry position and the corresponding latest exit position of each candidate lane segment, the passable lane area corresponding to the target road segment is determined.

[0036] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0037] Determine at least one candidate lane segment corresponding to the target road segment covered by the navigation path in the current navigation scenario;

[0038] For each candidate lane segment, determine the corresponding entry endpoint and exit endpoint;

[0039] Based on the permitted entry information of the corresponding entry endpoints of the candidate lane segments in the current navigation scenario, determine the earliest accessible position of the candidate lane segment; and,

[0040] Based on the allowable exit status of the exit endpoints of the candidate lane segments in the current navigation scenario, determine the latest exit position of the candidate lane segments;

[0041] Based on the earliest accessible entry position and the corresponding latest exit position of each candidate lane segment, the passable lane area corresponding to the target road segment is determined.

[0042] The aforementioned method, apparatus, computer equipment, and storage medium for determining passable lane areas determine at least one candidate lane segment corresponding to the target road segment covered by the navigation path in the current navigation scenario; for each candidate lane segment, determine the corresponding entry endpoint and exit endpoint; based on the allowed entry status of the candidate lane segment's corresponding entry endpoint in the current navigation scenario, determine the earliest allowed entry position of the candidate lane segment; and based on the allowed exit status of the candidate lane segment's corresponding exit endpoint in the current navigation scenario, determine the latest allowed exit position of the candidate lane segment; based on the earliest allowed entry position and the corresponding latest allowed exit position of each candidate lane segment, determine the passable lane area corresponding to the target road segment. In this technical solution, by introducing the allowed entry status of the candidate lane segment's corresponding entry endpoint and the allowed exit status of the exit endpoint, the earliest entry position and the latest allowed exit position of the candidate lane segment are determined, accurately reflecting information such as the topological relationship between each candidate lane segment and other lane segments. Furthermore, based on the earliest entry position and the corresponding latest allowed exit position, the passable lane area corresponding to the target road segment is determined, improving the accuracy of the passable lane area determination. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart illustrating a method for determining a passable lane area provided in this embodiment;

[0045] Figure 2 This is a schematic diagram of endpoint determination provided in this embodiment;

[0046] Figure 3 This is a schematic diagram of a passable lane area provided in this embodiment;

[0047] Figure 4 This is a flowchart illustrating one of the earliest accessible location determination steps provided in this embodiment;

[0048] Figure 5 This is a schematic diagram illustrating the determination result of entering and exiting the position provided in this embodiment;

[0049] Figure 6 This is a flowchart illustrating a step for determining the latest possible release position in this embodiment.

[0050] Figure 7 This is a flowchart illustrating the steps for determining a passable lane area in this embodiment.

[0051] Figure 8 This is a schematic diagram of a two-lane weaving situation provided in this embodiment;

[0052] Figure 9 This embodiment provides a schematic diagram of a merging type area division;

[0053] Figure 10 This embodiment provides a schematic diagram of a diversion type area division;

[0054] Figure 11 This is a schematic diagram of a region to be removed, provided in this embodiment.

[0055] Figure 12 This embodiment provides a schematic diagram of an intersection area;

[0056] Figure 13 This is a rendering diagram of a passable area provided in this embodiment;

[0057] Figure 14 This is a structural block diagram of a passable lane area determination device provided in this embodiment;

[0058] Figure 15 This is an internal structural diagram of a computer device provided in this embodiment. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0060] In one exemplary embodiment, such as Figure 1 As shown, a method for determining a passable lane area is provided. This embodiment illustrates the application of this method to a terminal. It is understood that this method can also be applied to a server, and can also be applied to a system including a terminal and a server, and implemented through the interaction between the terminal and the server. This application does not impose any limitations on this. In this embodiment, the method includes the following steps:

[0061] S110, determine at least one candidate lane segment corresponding to the target road segment covered by the navigation path in the current navigation scenario.

[0062] Here, the current navigation scenario can be understood as the spatial environment in which the current road guidance is performed. The navigation path can be understood as a continuous road planned within the current navigation scenario. The target road segment can be understood as a road segment within the navigation path, and the target road segment contains at least one road segment. The candidate lane segment can be understood as a lane segment contained within the lane group corresponding to the target road segment.

[0063] In one optional embodiment, at least one intersection is determined from the roads covered by the navigation path in the current navigation scenario; the navigation path is segmented according to each intersection to obtain at least one target road segment covered by the navigation path; for each lane segment contained in the lane group corresponding to the target road segment, adjacent lane segments are spliced ​​together according to the continuity relationship between lanes to obtain candidate lane segments. It is worth noting that the lane lines of the candidate lane segments can be solid lines, dashed lines, or lines composed of both solid and dashed lines, and the lane lines include the left lane line and the right lane line of the candidate lane segment.

[0064] S120, for each candidate lane segment, determine the corresponding entry endpoint and exit endpoint of the candidate lane segment.

[0065] The entry endpoint can be understood as the point at which a candidate lane segment is entered; the exit endpoint can be understood as the point at which a candidate lane segment is exited.

[0066] In an optional embodiment, for each candidate lane segment, candidate endpoints in the candidate lane segment are determined according to a preset endpoint determination rule; along the navigation path direction, candidate endpoints in the candidate lane segment that can be directly entered, that is, those that do not need to change lanes from other lanes, are taken as entry endpoints, and candidate endpoints that can be directly exited, that is, those that do not need to change lanes from other lanes, are taken as exit endpoints.

[0067] The preset endpoint determination rules may include: using the start and end points of the corresponding navigation path in the candidate lane segment as candidate endpoints; using the points on the candidate lane segment that connect to the intersection as candidate endpoints; using the points on the candidate lane segment that connect to the beginning of the divergence as candidate endpoints; using the points on the candidate lane segment that connect to the merging end as candidate endpoints; using the points on the candidate lane segment that connect to the intersection of non-intersections as candidate endpoints; and selecting the points at the boundary between passable and impassable sections in the candidate lane segment as candidate endpoints.

[0068] For example, such as Figure 2 The diagram shows the endpoint determination. The target road segment includes candidate lane segments 1 through 7. For candidate lane segment 1, the divergence start point is taken as the entry endpoint of candidate lane segment 1, and the merging end point is taken as the exit endpoint of candidate lane segment 1. For candidate lane segment 3, intersection 1 on candidate lane segment 3 is the intersection between candidate lane segment 3 and a non-intersection, therefore, intersection 1 can be taken as the entry endpoint of candidate lane segment 3; intersection 2 on candidate lane segment 3 is the intersection between candidate lane segment 3 and an intersection, therefore, intersection 2 can be taken as the exit endpoint of candidate lane segment 3. For candidate lane segment 6, candidate lane segment 6 is located between two impassable areas, therefore, boundary point 1 can be taken as the entry endpoint of candidate lane segment 6; boundary point 2 can be taken as the exit endpoint of candidate lane segment 6.

[0069] S130: Determine the earliest accessible position of the candidate lane segment based on the permitted entry status of the corresponding entry endpoints of the candidate lane segment in the current navigation scenario.

[0070] The earliest accessible position can be the earliest position that a vehicle can enter during its journey.

[0071] In one optional embodiment, for each candidate lane segment, the permitted entry status of the corresponding entry endpoint of the candidate lane segment under the current navigation scenario is determined; for the candidate lane segments that are permitted to enter under the current navigation scenario, the entry endpoint of the earliest permitted entry candidate lane segment is taken as the earliest accessible position of the candidate lane segment; for the candidate lane segments that are not permitted to enter under the current navigation scenario, other position points are selected along the navigation path direction as the earliest accessible position of the candidate lane segment.

[0072] S140, based on the allowable exit status of the exit endpoints of the candidate lane segments in the current navigation scenario, determine the latest exit position of the candidate lane segments.

[0073] The latest exit position can be the latest position where the vehicle can exit the candidate lane segment during its journey.

[0074] In one optional embodiment, for each candidate lane segment, the allowable exit situation of the exit endpoint corresponding to the candidate lane segment under the current navigation scenario is determined; for the candidate lane segment that allows exit under the current navigation scenario, the exit endpoint of the latest allowed exit candidate lane segment is taken as the latest exit position of the candidate lane segment; for the candidate lane segment that does not allow exit under the current navigation scenario, other location points are selected along the navigation path direction as the latest exit positions of the candidate lane segment.

[0075] It should be noted that, although... Figure 1 In the flowchart of the method for determining the passable lane area shown, there is a sequential execution relationship between S130 and S140. However, in the actual execution process of this embodiment, the sequential execution relationship between S130 and S140 is not restricted.

[0076] S150, based on the earliest accessible position and the corresponding latest exit position of each candidate lane segment, determine the passable lane area corresponding to the target road segment.

[0077] The passable lane area can be understood as the area formed by the lanes that vehicles can use when traveling along the navigation path.

[0078] In one alternative embodiment, for each candidate lane segment, the lane segment area between the earliest accessible position and the corresponding latest exit position of the candidate lane segment is determined as the passable lane segment area in the candidate lane segment; the passable lane segment areas in each candidate lane segment are combined to obtain the passable lane area corresponding to the target road segment.

[0079] In another optional embodiment, for each candidate lane segment, the earlier of the earliest possible entry positions for each lane line corresponding to the candidate lane segment is taken as the entry variable lane position for each lane line corresponding to the candidate lane segment; and the later of the latest possible exit positions for each lane line corresponding to the candidate lane segment is taken as the exit variable lane position for each lane line corresponding to the candidate lane segment; and the lane area constructed by the entry variable lane position and the exit variable lane position on each lane line of at least one candidate lane segment is taken as the passable lane area corresponding to the target road segment.

[0080] For example, for each lane line of a candidate lane segment, the earliest accessible position of that lane line can be determined; the earliest accessible position point is selected from the earliest accessible positions corresponding to each lane line as the entry variable lane position for each lane line of the candidate lane segment.

[0081] For example, for each lane line of a candidate lane segment, the latest possible exit position of that lane line can be determined; the latest exit position point is selected from the latest possible exit positions corresponding to each lane line as the exit reversible position for each lane line of the candidate lane segment.

[0082] In one alternative implementation, for each candidate lane segment, the entry and exit positions of the variable lane can be determined; the area between the entry and exit positions is taken as the lane area corresponding to the candidate lane segment; and the lane areas corresponding to each candidate lane segment are combined to obtain the passable lane area corresponding to the target road segment.

[0083] For example, such as Figure 3 The diagram illustrates a passable lane area. The target road segment includes candidate lane segment 1, candidate lane segment 2, candidate lane segment 3, and candidate lane segment 4. The leftmost black dot of candidate lane segment 4 represents its entry point into the reversible lane, and the rightmost black dot represents its exit point from the reversible lane. The area between the entry and exit points is defined as the lane area of ​​candidate lane segment 4; that is, the shaded area on candidate lane segment 4 is its lane area. Combining the shaded areas of all candidate lane segments yields the passable lane area corresponding to the target road segment.

[0084] The aforementioned method for determining the passable lane area involves identifying at least one candidate lane segment corresponding to the target road segment covered by the navigation path in the current navigation scenario; for each candidate lane segment, determining its corresponding entry endpoint and exit endpoint; determining the earliest possible entry position of the candidate lane segment based on the allowed entry status of its corresponding entry endpoint in the current navigation scenario; and determining the latest possible exit position of the candidate lane segment based on the allowed exit status of its corresponding exit endpoint in the current navigation scenario; and determining the passable lane area corresponding to the target road segment based on the earliest possible entry position and the corresponding latest possible exit position of each candidate lane segment. In this technical solution, by introducing the allowed entry status of the candidate lane segment's corresponding entry endpoint and the allowed exit status of its exit endpoint, the earliest entry position and the latest possible exit position of each candidate lane segment are determined, accurately reflecting information such as the topological relationship between each candidate lane segment and other lane segments. Furthermore, based on the earliest entry position and the corresponding latest possible exit position, the passable lane area corresponding to the target road segment is determined, thus improving the accuracy of the passable lane area determination.

[0085] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, the earliest accessible location determination step in S130 is refined.

[0086] See Figure 4 The earliest accessible location determination steps shown include:

[0087] S410, determine whether the entry endpoint is the entry endpoint corresponding to the candidate lane segment that is allowed to enter in the current navigation scenario.

[0088] S420: If entering the entry endpoint corresponding to the candidate lane segment is permitted under the current navigation scenario, then the entry endpoint of the candidate lane segment will be used as the earliest accessible position corresponding to each lane line of the candidate lane segment.

[0089] In an optional embodiment, for each lane line of each candidate lane, if the entry endpoint of the lane line is the entry endpoint of the candidate lane segment that is allowed to enter in the current navigation scenario, the entry endpoint of the lane line can be directly used as the earliest accessible position corresponding to the lane line.

[0090] For example, such as Figure 5 The diagram shows the results of determining the entry and exit positions. The target road segment in the diagram includes candidate lane segment 1, candidate lane segment 2, candidate lane segment 3, and candidate lane segment 4. Solid lines indicate positions where lane changes are not permitted, and dashed lines indicate positions where lane changes are permitted. As shown in the diagram, in the navigation path direction, one can directly enter the target road segment through candidate lane segments 1 and 4. Therefore, the entry endpoints of candidate lane segments 1 and 4 can be directly used as the earliest accessible positions for the corresponding lane lines. For example, the position point indicated by the endpoint 1 of the left lane line corresponding to candidate lane segment 1 is the earliest accessible position for the left lane line corresponding to candidate lane segment 1.

[0091] S430, if entering the entry endpoint corresponding to the candidate lane segment is not allowed in the current navigation scenario, then for any first lane line corresponding to the candidate lane segment, the earliest accessible position of the candidate lane segment on the first lane line is determined based on the earliest accessible position of the second lane line of the adjacent lane segment of the candidate lane segment.

[0092] The first lane line and the second lane line are located on the same side of their respective lanes.

[0093] In one optional embodiment, for each lane line of each candidate lane, if the entry endpoint of the lane line is the entry endpoint of the candidate lane segment that is not allowed to enter under the current navigation scenario, then any lane line corresponding to the candidate lane segment is selected as the first lane line; other lane lines in the adjacent lane segment containing the first lane line are selected as the second lane line; the earliest accessible position of the second lane line is determined; the position point on the first lane line that is later than the earliest accessible position of the second lane line is selected; and the entry position point is taken as the earliest accessible position on the first lane line.

[0094] In another optional embodiment, the orientation side of the first lane line on the candidate lane segment is defined as the first orientation side; the earliest accessible position of the candidate lane segment on the first lane line is determined based on the position point after the earliest accessible position on the second lane line at the permitted lane change position of the first lane line; wherein, the second lane line is the lane line of the first reference lane segment on the first orientation side; the first reference lane segment is adjacent to the candidate lane segment on the first orientation side.

[0095] Specifically, for any first lane line corresponding to a candidate lane segment, determine the orientation side of the first lane line on the candidate lane and use this orientation side as the first orientation side; select the candidate lane segment adjacent to the candidate lane segment on the first orientation side as the first reference lane segment; select the lane line on the first orientation side in the first reference lane segment as the second lane line; select a position point located after the earliest accessible position on the second lane line from the permitted lane change positions of the first lane line; and determine this position point as the earliest accessible position of the candidate lane segment on the first lane line.

[0096] For example, see [link to example]. Figure 5 Since it is not possible to directly enter the target road segment via candidate lane segment 2 and candidate lane segment 3 in the navigation path direction, the entry endpoints of the lane lines corresponding to candidate lane segment 2 and candidate lane segment 3 are all entry endpoints that are not allowed to enter the candidate lane segment in the current navigation scenario. Taking the left lane line corresponding to candidate lane segment 2 as the first lane line as an example, the left side is the first orientation side. The candidate lane segment 1 adjacent to candidate lane segment 2 on the left side is taken as the first reference lane segment; the lane line on the left side of candidate lane segment 1 is selected as the second lane line; the position point (endpoint 1) located on the second lane line after the earliest enterable position (endpoint 2) on the left lane line corresponding to candidate lane segment 2 (i.e., the dashed part of the left lane line corresponding to candidate lane segment 2) is selected as the earliest enterable position on the left lane line corresponding to candidate lane segment 2.

[0097] In this embodiment, candidate lane segments are divided into candidate lane lines that allow direct entry and candidate lane lines that do not allow direct entry. For the entry endpoints corresponding to candidate lane segments that allow direct entry, the entry endpoints are directly used as the earliest accessible positions for each lane line of the candidate lane segment, simplifying the steps for determining the earliest accessible position when the candidate lane line allows direct entry. For candidate lane lines that do not allow direct entry, a first lane line and a second lane line are introduced. Based on the earliest accessible position of the second lane line, the earliest accessible position on the first lane line is determined, making the determined earliest accessible position more accurate and reasonable.

[0098] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, the step of determining the latest detachable position in S140 is refined.

[0099] See Figure 6 The steps for determining the latest possible detachment position, as shown, include:

[0100] S610, determine whether the exit endpoint is the exit endpoint corresponding to the candidate lane segment that is allowed to exit in the current navigation scenario.

[0101] S620 If the candidate lane segment is allowed to exit at the exit endpoint in the current navigation scenario, then the exit endpoint of the candidate lane segment is taken as the latest exit position corresponding to each lane line of the candidate lane segment.

[0102] In an optional embodiment, for each lane line of each candidate lane, if the detachment endpoint of the lane line is the detachment endpoint corresponding to the candidate lane segment that is allowed to detach in the current navigation scenario, then the detachment endpoint of the lane line can be directly used as the latest detachment position corresponding to the lane line.

[0103] For example, such as Figure 5 The diagram shows the location determination. Since the target road segment can be directly accessed via candidate lane segment 1 and candidate lane segment 4 in the navigation path direction, the exit endpoints of the lane lines corresponding to candidate lane segment 1 and candidate lane segment 4 are both exit endpoints allowed to exit the candidate lane segment under the current navigation scenario. Therefore, the exit endpoints of the lane lines can be directly used as the latest possible exit positions for the corresponding lane lines. For example, the position point shown as the upper endpoint 5 of the right lane line corresponding to candidate lane segment 4 is the latest possible entry position for the right lane line corresponding to candidate lane segment 4.

[0104] S630 If detachment from the detachment endpoint corresponding to the candidate lane segment is not allowed in the current navigation scenario, then for any third lane line corresponding to the candidate lane segment, the latest detachment position of the candidate lane segment on the third lane line is determined based on the latest detachment position of the fourth lane line of the adjacent lane segment of the candidate lane segment.

[0105] The third lane line and the fourth lane line are located on the same side of their respective lanes.

[0106] In one alternative embodiment, for each lane line of each candidate lane, if the detachment endpoint of the lane line is the detachment endpoint corresponding to the candidate lane segment that is not allowed to detach from under the current navigation scenario, then any lane line corresponding to the candidate lane segment is selected as the third lane line; other lane lines in the adjacent lane segment containing the third lane line are selected as the fourth lane line; the latest detachment position of the third lane line is determined; the detachment endpoint on the third lane line that is earlier than the latest detachment position of the fourth lane line is selected; and the detachment endpoint is taken as the latest detachment position on the third lane line.

[0107] In another alternative embodiment, the orientation side of the third lane line on the candidate lane segment is taken as the second orientation side; the latest exit position of the candidate lane segment on the third lane line is determined based on the position point of the third lane line at the permitted lane change position before the latest exit position on the fourth lane line; wherein, the fourth lane line is the lane line of the second reference lane segment on the second orientation side; the second reference lane segment is adjacent to the candidate lane segment on the second orientation side.

[0108] Specifically, for any third lane line corresponding to a candidate lane segment, determine the orientation side of the third lane line on the candidate lane and designate this orientation side as the second orientation side; select the candidate lane segment adjacent to the candidate lane segment on the first orientation side as the second reference lane segment; select the lane line in the second reference lane segment on the second orientation side as the fourth lane line; select a position point located before the latest exit position on the fourth lane line from the allowed lane change positions of the third lane line; determine this position point as the latest exit position of the candidate lane segment on the third lane line.

[0109] For example, see [link to example]. Figure 5 In the navigation path direction, it is not possible to directly exit the target road segment via candidate lane segment 2 and candidate lane segment 3. Therefore, the exit endpoints of the lane lines corresponding to candidate lane segment 2 and candidate lane segment 3 are exit endpoints that are not allowed to exit the candidate lane segment under the current navigation scenario. Taking the right lane line corresponding to candidate lane segment 2 as the third lane line as an example, the right side is the second orientation side. The candidate lane segment 3 adjacent to candidate lane segment 2 on the right side is taken as the first reference lane segment. The lane line on the right side of candidate lane segment 3 is selected as the fourth lane line. The exit endpoint (i.e., endpoint 4) located on the fourth lane line at the allowed lane change position of the right lane line corresponding to candidate lane segment 2 (the dashed part of the right lane line corresponding to candidate lane segment 2) is selected as the latest possible exit position on the right lane line corresponding to lane line 2.

[0110] In this embodiment, candidate lane segments are divided into candidate lane lines that allow direct exit and candidate lane lines that do not allow direct exit. For the exit endpoints corresponding to candidate lane segments that allow exit, the exit endpoints are directly used as the latest exit positions corresponding to each lane line of the candidate lane segment, simplifying the steps for determining the latest exit positions when the candidate lane lines allow direct exit. For candidate lane lines that do not allow direct exit, a third lane line and a fourth lane line are introduced. The latest exit positions on the third lane line are determined based on the latest exit positions on the third lane line, making the determined latest exit positions more accurate.

[0111] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, the step of determining the passable lane area in S150 is refined.

[0112] See Figure 7 The steps for determining the passable lane area shown include:

[0113] S710, the lane area constructed by the entry and exit positions of the variable lane on each lane line of at least one candidate lane segment is taken as the initial passable area.

[0114] Specifically, for each candidate lane segment, the entry and exit points of the variable lanes on each lane line in the candidate lane segment are determined, and the area between the variable lane position and the exit point is taken as the lane area of ​​the candidate lane segment; the lane areas of each candidate lane segment are combined to obtain the initial passable area.

[0115] S720 If the initially passable area corresponds to a single-lane weaving situation, then the boundary line to be adjusted and the direction to be adjusted are determined according to the lane weaving type.

[0116] Optionally, lane weaving situations may include lane divergence, with the corresponding lane weaving type being divergence; or alternatively, lane weaving situations may include lane merging, with the corresponding lane weaving type being merging. Here, divergence means one lane corresponds to at least two exit lanes; merging means one lane corresponds to at least two entry lanes.

[0117] Among them, the single-sided lane weaving situation means that among the lanes of the road, there is only one side of the road where lanes weave together.

[0118] In one optional embodiment, the lane weaving situation in the initial passable area is determined; if the initial passable area corresponds to a two-sided lane weaving situation, it is not necessary to determine the boundary line to be adjusted and the direction to be adjusted; if the initial passable area corresponds to a one-sided lane weaving situation, the lane change direction of the initial passable area is determined according to the lane weaving type; the boundary line in the lane change direction of the initial passable area is taken as the boundary line to be adjusted, and the lane change direction is taken as the direction to be adjusted.

[0119] For example, such as Figure 8 The diagram illustrates a two-lane weaving scenario. The diagonal lines represent the initial passable area, and the triangles indicate the vehicle's current position. Figure (A) shows a two-lane weaving scenario where traffic splits to the left and right. In this scenario, a vehicle can either detach from its current position to the left and enter the left candidate lane segment, or detach from its current position to the right and enter the right candidate lane segment. Figure (B) shows a two-lane weaving scenario where traffic merges from the left and right. In this scenario, a vehicle may enter the current candidate lane segment from the left candidate lane segment or from the right candidate lane segment. As shown in the diagrams, in a two-lane weaving scenario, vehicles have multiple lane-changing options, and there is no fixed boundary line or direction to be adjusted. Therefore, it is not necessary to determine the boundary line or direction to be adjusted.

[0120] In another optional embodiment, if the lane weaving type is a merging type, then the boundary line of the merging lane in the exit direction in the initial passable area is taken as the boundary line to be adjusted; and the direction opposite to the merging direction is taken as the direction to be adjusted; if the lane weaving type is a diverging type, then the boundary line of the diverging lane in the entry direction in the initial passable area is taken as the boundary line to be adjusted; and the direction in the same direction as the diverging direction is taken as the direction to be adjusted.

[0121] For example, such as Figure 9 The diagram shows the merging zone division. The diagonally lined areas represent the initial passable areas. In the diagram, (A) represents a merging scenario to the left, and (B) represents a merging scenario to the right. In the merging scenario, the boundary line of the merging lane in the exit direction within the initial passable area is taken as the boundary line to be adjusted (i.e., the thick solid line in Figures A and B). The direction opposite to the merging direction is taken as the direction to be adjusted (i.e., the direction of the curved arrow in Figures A and B). The boundary line to be adjusted is then adjusted according to the direction to be adjusted to obtain the adjusted boundary line (i.e., the dashed line in Figures A and B).

[0122] For example, such as Figure 10The diagram shows the division of traffic diversion areas. The diagonal lines in the diagram represent the initial passable area. In the diagram, (A) represents a diversion scenario from the left, and (B) represents a diversion scenario from the right. In each diversion scenario, the boundary line of the diversion lane in the initial passable area in the entry direction is taken as the boundary line to be adjusted (i.e., the thick solid line in Figures A and B). The direction that is the same as the diversion direction is taken as the direction to be adjusted (i.e., the direction of the curved arrow in Figures A and B). The boundary line to be adjusted is then adjusted according to the direction to be adjusted to obtain the adjusted boundary line (i.e., the dashed line in Figures A and B).

[0123] S730, with the intersection point as the center, rotates the boundary line to be adjusted by a preset angle along the direction to be adjusted to determine the area to be removed.

[0124] Specifically, the merging or diverging point is determined as the weaving point; with the weaving point as the center, the boundary line to be adjusted is rotated by a preset angle along the direction to be adjusted; the smaller passable area on both sides of the boundary line to be adjusted is selected as the area to be eliminated.

[0125] For example, such as Figure 11 The diagram shows the areas to be eliminated. Taking Figure (A) as an example of a leftward merging scenario, points P1 and P2 form the boundary line to be adjusted (the thick solid line between P1 and P2 in the diagram). Using the merging point (P1) as the rotation center, the boundary line to be adjusted is rotated by a preset angle in the opposite direction to the merging direction (the direction of the curved arrow in the diagram), resulting in the rotation shown by the dashed line. The passable area to the right of the dashed line is then designated as the area to be eliminated (the vertical line area in the diagram). Taking Figure (B) as an example of a rightward splitting scenario, points P3 and P4 form the limit to be adjusted (the thick solid line between P3 and P4 in the diagram). Using the splitting point P3 as the rotation center, the boundary line to be adjusted is rotated by a preset angle in the same direction as the splitting direction (the direction of the curved arrow in the diagram), resulting in the rotation shown by the dashed line. The passable area to the left of the dashed line is then designated as the area to be eliminated (the vertical line area in the diagram).

[0126] S740, remove the areas to be removed from the initial passable area to obtain the passable lane area corresponding to the target road segment.

[0127] Specifically, the areas to be eliminated are removed from the initial passable area, and the initial passable area after removing the areas to be eliminated is taken as the passable lane area corresponding to the target road segment.

[0128] It should be noted that this embodiment can also determine the passable lane area of ​​the intersection area: based on the lane weaving situation of the intersection, candidate lane segments connected to the intersection are selected from the initial passable area as passable lane segments; control points are selected from the passable lane segments according to the intersection type; the control points are extended based on the Bézier curve function to obtain the intersection extension curve; and the intersection extension curve is used as the passable lane area of ​​the intersection area.

[0129] For example, such as Figure 12 The diagram shows the intersection area. The area highlighted by the dashed line is the intersection area. Vehicles enter the intersection from candidate lane segment A and exit from candidate lane segment B. In this scenario, candidate lane segments connected to the intersection are selected from the candidate lane segments covered by the initial passable area (i.e., the area marked by the diagonal line in the diagram) as passable lane segments. That is, candidate lane segments A and B are selected as passable lane segments. Control points (i.e., the black dots in the diagram) are selected from the entry and exit endpoints of candidate lane segments A and B. Based on the Bézier curve function, the control points located on the same side are extended to obtain the passable lane area (i.e., the area marked by the vertical line in the diagram).

[0130] Specifically, control points are selected from the passable lane segments based on the intersection type as follows: If the intersection is a straight-ahead intersection, the endpoints of the leftmost and rightmost lane lines of the passable lane segment are used as control points. If the intersection is an L-shaped curve, the turning direction is determined; the lane line in the passable lane segment opposite to the turning direction is extended by a preset length, and the extended endpoint is used as a control point (e.g., when the turning direction is left turn, the rightmost lane line is extended by a preset length); simultaneously, the endpoints of the leftmost and rightmost lane lines of the passable lane segment are also used as control points. For right turns, the rightmost lane line of the passable lane segment is extended by a preset length, and the extended endpoint is used as a control point; simultaneously, the endpoints of the leftmost and rightmost lane lines of the passable lane segment are also used as control points.

[0131] It is worth noting that when there are m exit lanes and n entry lanes at an intersection, control points can be directly selected from the lane lines on both sides of the m exit lanes and the lane lines on both sides of the n entry lanes. Curve fitting can then be performed on the control points on the same side of the entry and exit lanes. Here, m and n are integers not less than 1.

[0132] It should be noted that this embodiment can also generate area colors and dynamic arrows after determining the passable lane area. Generating area colors may include: obtaining lane segment information (such as lane number, traffic status, etc.) of candidate lane segments within the passable area; and assigning corresponding colors to the passable lane area based on the lane segment information (e.g., red for congested sections and green for uncongested sections). For a specific implementation, see [link to implementation details]. Figure 13 The image shows a rendering of the passable lane area.

[0133] In an optional embodiment, this application also provides a scheme to support the creation of dynamic arrows. For example, each shape point in the candidate lane segment corresponding to the passable lane area can be projected onto the corresponding target road segment of the passable lane area, and its distance from the starting point of the target road segment is used as the V value of each vertex. After sorting all candidate lane segments according to the direction of travel, the V value of each vertex can be accumulated. The U value of each point with the same V value is calculated using the spacing between points with the same V value in the left and right lanes of the same lane group. The position of the dynamic arrow is determined based on the V value (wherein, the arrow start value indicates that the arrow will appear at a preset distance in front, and the arrow end value indicates that the arrow will disappear at a preset distance in front). When the V value is greater than the arrow start value and less than the arrow start value + arrow end value, 1 is returned; otherwise, 0 is returned, to determine the range in which the arrow appears. Furthermore, a speed value is superimposed on the V value, the starting value of the arrow is subtracted, the ending value of the arrow is removed, and the decimal part is multiplied by the ending value of the arrow. This allows the current arrow to circulate at a certain speed within this range. (For example, if the starting point is 10 and the ending point is 40, the ending value of the arrow is 30. When the arrow reaches 15, the calculation is (15-10) / 30=0.166666..., rounded down to the decimal, it is still 0.16666..., and finally 0.16666...*30=5, which is equivalent to moving 5 meters from the starting point. When the arrow reaches 45, it is equivalent to being out of the display range and having to return to the starting point. At this time, the calculation is (45-10) / 30=1.166666..., rounded down to the decimal, it is still 0.16666..., and finally 0.16666...*30=5, which is still equivalent to moving 5 meters from the starting point.) If the V value is greater than the arrow's starting value and less than the sum of the arrow's starting and ending values, the calculated value is returned; otherwise, the V value is returned. The U value remains unchanged. The latest U and V values ​​are obtained, and a dynamic arrow texture is displayed based on the results. See the display effect for reference. Figure 13 .

[0134] In the above embodiments, the entry and exit points of variable lanes are introduced. The actual passable range within the initial passable area is divided from the passable area corresponding to the candidate lane segment. Then, the lane change shape is trimmed for the corresponding candidate lane segment according to the boundary line to be adjusted and the direction to be adjusted under different lane weaving types. This makes the determined passable lane area more accurate and improves the accuracy and rationality of the determination of the passable lane area.

[0135] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0136] Based on the same inventive concept, this application also provides a passable lane area determination device for implementing the above-described method for determining passable lane areas. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the passable lane area determination device provided below can be found in the limitations of the passable lane area determination method described above, and will not be repeated here.

[0137] In one exemplary embodiment, such as Figure 14 As shown, a device for determining a passable lane area is provided, comprising: a first determining module 1410, a second determining module 1420, a third determining module 1430, a fourth determining module 1440, and a fifth determining module 1450, wherein:

[0138] The first determining module 1410 is used to determine at least one candidate lane segment corresponding to the target road segment covered by the navigation path in the current navigation scenario;

[0139] The second determining module 1420 is used to determine the entry endpoint and exit endpoint corresponding to each candidate lane segment.

[0140] The third determining module 1430 is used to determine the earliest accessible position of a candidate lane segment based on the permitted entry status of the corresponding entry endpoints of the candidate lane segment in the current navigation scenario; and,

[0141] The fourth determining module 1440 is used to determine the latest possible exit position of the candidate lane segment based on the allowable exit status of the exit endpoints of the candidate lane segment in the current navigation scenario.

[0142] The fifth determining module 1450 is used to determine the passable lane area corresponding to the target road segment based on the earliest enterable position and the corresponding latest exitable position of each candidate lane segment.

[0143] In one embodiment, the third determining module further includes: a first entry determining unit, configured to, if entry into the entry endpoint corresponding to the candidate lane segment is permitted in the current navigation scenario, take the entry endpoint of the candidate lane segment as the earliest accessible position corresponding to each lane line of the candidate lane segment; and a second entry determining unit, configured to, if entry into the entry endpoint corresponding to the candidate lane segment is not permitted in the current navigation scenario, determine the earliest accessible position of the candidate lane segment on the first lane line for any first lane line corresponding to the candidate lane segment based on the earliest accessible position of the second lane line of the adjacent lane segment of the candidate lane segment; wherein the first lane line and the second lane line are located on the same azimuth side of their respective lanes.

[0144] In one embodiment, the second entry determining unit is further configured to take the orientation side of the first lane line on the candidate lane segment as the first orientation side; and determine the earliest accessible position of the candidate lane segment on the first lane line based on the position point located after the earliest accessible position on the second lane line at the permitted lane change position of the first lane line; wherein the second lane line is the lane line of the first reference lane segment on the first orientation side; and the first reference lane segment is adjacent to the candidate lane segment on the first orientation side.

[0145] In one embodiment, the fourth determining module further includes: a first detachment determining unit, configured to, if detachment from the detachment endpoint corresponding to the candidate lane segment is permitted in the current navigation scenario, take the detachment endpoint of the candidate lane segment as the latest possible detachment position corresponding to each lane line of the candidate lane segment; and a second detachment determining unit, configured to, if detachment from the detachment endpoint corresponding to the candidate lane segment is not permitted in the current navigation scenario, determine the latest possible detachment position of the candidate lane segment on the third lane line for any third lane line corresponding to the candidate lane segment based on the latest possible detachment position of the fourth lane line of the adjacent lane segment of the candidate lane segment; wherein the third lane line and the fourth lane line are located on the same azimuth side of their respective lanes.

[0146] In one embodiment, the second exit determination unit is further configured to take the orientation side of the third lane line on the candidate lane segment as the second orientation side; and determine the latest exit position of the candidate lane segment on the third lane line based on the position point of the third lane line at the permitted lane change position before the latest exit position on the fourth lane line; wherein the fourth lane line is the lane line of the second reference lane segment on the second orientation side; and the second reference lane segment is adjacent to the candidate lane segment on the second orientation side.

[0147] In one embodiment, the fifth determining module further includes: a first lane change determining unit, configured to, for each candidate lane segment, use the earlier of the earliest possible entry positions of each lane line corresponding to the candidate lane segment as the entry variable lane position of each lane line corresponding to the candidate lane segment; and a second lane change determining unit, configured to use the later of the latest possible exit positions of each lane line corresponding to the candidate lane segment as the exit variable lane position of each lane line corresponding to the candidate lane segment; and a region determining unit, configured to use the lane region constructed by the entry variable lane positions and exit variable lane positions of each lane line on at least one candidate lane segment as the passable lane region corresponding to the target road segment.

[0148] In one embodiment, the area determination unit is further configured to take the lane areas constructed by the entry and exit variable lane positions on each lane line of at least one candidate lane segment as the initial passable area; if the initial passable area corresponds to a single-sided lane weaving situation, then determine the boundary line to be adjusted and the direction to be adjusted according to the lane weaving type; with the weaving point as the center, rotate the boundary line to be adjusted by a preset angle along the direction to be adjusted to determine the area to be eliminated; eliminate the area to be eliminated in the initial passable area to obtain the passable lane area corresponding to the target road segment.

[0149] Each module in the aforementioned accessible lane area determination device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0150] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 15As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and 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 also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the 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 media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a method for determining a passable lane area. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0151] Those skilled in the art will understand that Figure 15 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0152] In one exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: determining at least one candidate lane segment corresponding to a target road segment covered by a navigation path in the current navigation scenario; for each candidate lane segment, determining an entry endpoint and an exit endpoint corresponding to the candidate lane segment; determining the earliest accessible position of the candidate lane segment based on the permitted entry status of the entry endpoint corresponding to the candidate lane segment in the current navigation scenario; and determining the latest accessible exit position of the candidate lane segment based on the permitted exit status of the exit endpoint corresponding to the candidate lane segment in the current navigation scenario; and determining a passable lane area corresponding to the target road segment based on the earliest accessible position and the corresponding latest accessible exit position of each candidate lane segment.

[0153] In one embodiment, when the processor executes the computer program, it further implements the following steps: if entry to the entry endpoint corresponding to the candidate lane segment is permitted in the current navigation scenario, then the entry endpoint of the candidate lane segment is taken as the earliest accessible position corresponding to each lane line of the candidate lane segment; if entry to the entry endpoint corresponding to the candidate lane segment is not permitted in the current navigation scenario, then for any first lane line corresponding to the candidate lane segment, the earliest accessible position of the candidate lane segment on the first lane line is determined according to the earliest accessible position of the second lane line of the adjacent lane segment of the candidate lane segment; wherein, the first lane line and the second lane line are located on the same azimuth side of their respective lanes.

[0154] In one embodiment, when the processor executes the computer program, it further implements the following steps: taking the orientation side of the first lane line on the candidate lane segment as the first orientation side; determining the earliest accessible position of the candidate lane segment on the first lane line based on the position point after the earliest accessible position on the second lane line at the permitted lane change position of the first lane line; wherein the second lane line is the lane line of the first reference lane segment on the first orientation side; the first reference lane segment is adjacent to the candidate lane segment on the first orientation side.

[0155] In one embodiment, when the processor executes the computer program, it further implements the following steps: if detachment from the detachment endpoint corresponding to the candidate lane segment is permitted in the current navigation scenario, then the detachment endpoint of the candidate lane segment is taken as the latest possible detachment position corresponding to each lane line of the candidate lane segment; if detachment from the detachment endpoint corresponding to the candidate lane segment is not permitted in the current navigation scenario, then for any third lane line corresponding to the candidate lane segment, the latest possible detachment position of the candidate lane segment on the third lane line is determined according to the latest possible detachment position of the fourth lane line of the adjacent lane segment of the candidate lane segment; wherein the third lane line and the fourth lane line are located on the same orientation side of their respective lanes.

[0156] In one embodiment, when the processor executes the computer program, it further implements the following steps: taking the orientation side of the third lane line on the candidate lane segment as the second orientation side; determining the latest exit position of the candidate lane segment on the third lane line based on the position point of the third lane line at the permitted lane change position before the latest exit position on the fourth lane line; wherein the fourth lane line is the lane line of the second reference lane segment on the second orientation side; the second reference lane segment is adjacent to the candidate lane segment on the second orientation side.

[0157] In one embodiment, when the processor executes the computer program, it further implements the following steps: for each candidate lane segment, the earlier of the earliest possible entry positions for each lane line corresponding to the candidate lane segment is taken as the entry variable lane position for each lane line corresponding to the candidate lane segment; and the later of the latest possible exit positions for each lane line corresponding to the candidate lane segment is taken as the exit variable lane position for each lane line corresponding to the candidate lane segment; and the lane area constructed by the entry variable lane position and the exit variable lane position on each lane line of at least one candidate lane segment is taken as the passable lane area corresponding to the target road segment.

[0158] In one embodiment, when the processor executes the computer program, it further implements the following steps: taking the lane areas constructed by the entry and exit variable lane positions on each lane line of at least one candidate lane segment as the initial passable area; if the initial passable area corresponds to a single-sided lane weaving situation, then determining the boundary line to be adjusted and the direction to be adjusted according to the lane weaving type; rotating the boundary line to be adjusted by a preset angle along the direction to be adjusted with the weaving point as the center to determine the area to be eliminated; eliminating the area to be eliminated in the initial passable area to obtain the passable lane area corresponding to the target road segment.

[0159] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon. When executed by a processor, the computer program performs the following steps: determining at least one candidate lane segment corresponding to a target road segment covered by a navigation path in the current navigation scenario; for each candidate lane segment, determining an entry endpoint and an exit endpoint corresponding to the candidate lane segment; determining the earliest accessible position of the candidate lane segment based on the permitted entry status of the entry endpoint corresponding to the candidate lane segment in the current navigation scenario; and determining the latest accessible exit position of the candidate lane segment based on the permitted exit status of the exit endpoint corresponding to the candidate lane segment in the current navigation scenario; and determining a passable lane area corresponding to the target road segment based on the earliest accessible position and the corresponding latest accessible exit position of each candidate lane segment.

[0160] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if entry into the entry endpoint corresponding to the candidate lane segment is permitted in the current navigation scenario, then the entry endpoint of the candidate lane segment is taken as the earliest accessible position corresponding to each lane line of the candidate lane segment; if entry into the entry endpoint corresponding to the candidate lane segment is not permitted in the current navigation scenario, then for any first lane line corresponding to the candidate lane segment, the earliest accessible position of the candidate lane segment on the first lane line is determined according to the earliest accessible position of the second lane line of the adjacent lane segment of the candidate lane segment; wherein the first lane line and the second lane line are located on the same azimuth side of their respective lanes.

[0161] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: taking the orientation side of the first lane line on the candidate lane segment as the first orientation side; determining the earliest accessible position of the candidate lane segment on the first lane line based on the position point located after the earliest accessible position on the second lane line at the permitted lane change position of the first lane line; wherein the second lane line is the lane line of the first reference lane segment on the first orientation side; the first reference lane segment is adjacent to the candidate lane segment on the first orientation side.

[0162] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if detachment from the detachment endpoint corresponding to the candidate lane segment is permitted in the current navigation scenario, then the detachment endpoint of the candidate lane segment is taken as the latest possible detachment position corresponding to each lane line of the candidate lane segment; if detachment from the detachment endpoint corresponding to the candidate lane segment is not permitted in the current navigation scenario, then for any third lane line corresponding to the candidate lane segment, the latest possible detachment position of the candidate lane segment on the third lane line is determined according to the latest possible detachment position of the fourth lane line of the adjacent lane segment of the candidate lane segment; wherein the third lane line and the fourth lane line are located on the same orientation side of their respective lanes.

[0163] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: taking the orientation side of the third lane line on the candidate lane segment as the second orientation side; determining the latest exit position of the candidate lane segment on the third lane line based on the position point of the third lane line at the permitted lane change position before the latest exit position on the fourth lane line; wherein the fourth lane line is the lane line of the second reference lane segment on the second orientation side; the second reference lane segment is adjacent to the candidate lane segment on the second orientation side.

[0164] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: for each candidate lane segment, taking the earlier of the earliest enterable positions of each lane line corresponding to the candidate lane segment as the enter variable lane position of each lane line corresponding to the candidate lane segment; and taking the later of the latest exitable positions of each lane line corresponding to the candidate lane segment as the exit variable lane position of each lane line corresponding to the candidate lane segment; and taking the lane area constructed by the enter variable lane position and the exit variable lane position of each lane line on at least one candidate lane segment as the passable lane area corresponding to the target road segment.

[0165] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: taking the lane areas constructed by the entry and exit variable lane positions on each lane line of at least one candidate lane segment as the initial passable area; if the initial passable area corresponds to a single-sided lane weaving situation, then determining the boundary line to be adjusted and the direction to be adjusted according to the lane weaving type; rotating the boundary line to be adjusted by a preset angle along the direction to be adjusted with the weaving point as the center to determine the area to be eliminated; eliminating the area to be eliminated in the initial passable area to obtain the passable lane area corresponding to the target road segment.

[0166] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: determining at least one candidate lane segment corresponding to a target road segment covered by a navigation path in a current navigation scenario; for each candidate lane segment, determining an entry endpoint and an exit endpoint corresponding to the candidate lane segment; determining the earliest accessible position of the candidate lane segment based on the permitted entry status of the entry endpoint corresponding to the candidate lane segment in the current navigation scenario; and determining the latest accessible exit position of the candidate lane segment based on the permitted exit status of the exit endpoint corresponding to the candidate lane segment in the current navigation scenario; and determining a passable lane area corresponding to the target road segment based on the earliest accessible position and the corresponding latest accessible exit position of each candidate lane segment.

[0167] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if entry into the entry endpoint corresponding to the candidate lane segment is permitted in the current navigation scenario, then the entry endpoint of the candidate lane segment is taken as the earliest accessible position corresponding to each lane line of the candidate lane segment; if entry into the entry endpoint corresponding to the candidate lane segment is not permitted in the current navigation scenario, then for any first lane line corresponding to the candidate lane segment, the earliest accessible position of the candidate lane segment on the first lane line is determined according to the earliest accessible position of the second lane line of the adjacent lane segment of the candidate lane segment; wherein the first lane line and the second lane line are located on the same azimuth side of their respective lanes.

[0168] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: taking the orientation side of the first lane line on the candidate lane segment as the first orientation side; determining the earliest accessible position of the candidate lane segment on the first lane line based on the position point located after the earliest accessible position on the second lane line at the permitted lane change position of the first lane line; wherein the second lane line is the lane line of the first reference lane segment on the first orientation side; the first reference lane segment is adjacent to the candidate lane segment on the first orientation side.

[0169] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if detachment from the detachment endpoint corresponding to the candidate lane segment is permitted in the current navigation scenario, then the detachment endpoint of the candidate lane segment is taken as the latest possible detachment position corresponding to each lane line of the candidate lane segment; if detachment from the detachment endpoint corresponding to the candidate lane segment is not permitted in the current navigation scenario, then for any third lane line corresponding to the candidate lane segment, the latest possible detachment position of the candidate lane segment on the third lane line is determined according to the latest possible detachment position of the fourth lane line of the adjacent lane segment of the candidate lane segment; wherein the third lane line and the fourth lane line are located on the same orientation side of their respective lanes.

[0170] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: taking the orientation side of the third lane line on the candidate lane segment as the second orientation side; determining the latest exit position of the candidate lane segment on the third lane line based on the position point of the third lane line at the permitted lane change position before the latest exit position on the fourth lane line; wherein the fourth lane line is the lane line of the second reference lane segment on the second orientation side; the second reference lane segment is adjacent to the candidate lane segment on the second orientation side.

[0171] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: for each candidate lane segment, taking the earlier of the earliest enterable positions of each lane line corresponding to the candidate lane segment as the enter variable lane position of each lane line corresponding to the candidate lane segment; and taking the later of the latest exitable positions of each lane line corresponding to the candidate lane segment as the exit variable lane position of each lane line corresponding to the candidate lane segment; and taking the lane area constructed by the enter variable lane position and the exit variable lane position of each lane line on at least one candidate lane segment as the passable lane area corresponding to the target road segment.

[0172] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: taking the lane areas constructed by the entry and exit variable lane positions on each lane line of at least one candidate lane segment as the initial passable area; if the initial passable area corresponds to a single-sided lane weaving situation, then determining the boundary line to be adjusted and the direction to be adjusted according to the lane weaving type; rotating the boundary line to be adjusted by a preset angle along the direction to be adjusted with the weaving point as the center to determine the area to be eliminated; eliminating the area to be eliminated in the initial passable area to obtain the passable lane area corresponding to the target road segment.

[0173] It should be noted that the data involved in this application (including but not limited to data used for analysis, data stored, data displayed, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0174] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, 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 many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0175] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0176] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for determining a passable lane area, characterized in that, The method includes: Determine at least one candidate lane segment corresponding to the target road segment covered by the navigation path in the current navigation scenario; For each candidate lane segment, determine the corresponding entry endpoint and exit endpoint; Based on the permitted entry status of the corresponding entry endpoints of the candidate lane segments in the current navigation scenario, determine the earliest accessible location of the candidate lane segment; and, Based on the allowable exit status of the exit endpoints of the candidate lane segments in the current navigation scenario, determine the latest possible exit position of the candidate lane segments; Based on the earliest accessible position and the corresponding latest exit position of each candidate lane segment, the passable lane area corresponding to the target road segment is determined.

2. The method according to claim 1, characterized in that, The step of determining the earliest accessible position for each lane line corresponding to the candidate lane segment based on the permitted entry status of the entry endpoint corresponding to the candidate lane segment in the current navigation scenario includes: If entry into the candidate lane segment is permitted under the current navigation scenario, then the entry endpoint of the candidate lane segment shall be taken as the earliest accessible position corresponding to each lane line of the candidate lane segment. If entry into the entry endpoint corresponding to the candidate lane segment is not allowed under the current navigation scenario, then for any first lane line corresponding to the candidate lane segment, the earliest accessible position of the candidate lane segment on the first lane line is determined according to the earliest accessible position of the second lane line of the adjacent lane segment of the candidate lane segment. The first lane line and the second lane line are located on the same side of their respective lanes.

3. The method according to claim 2, characterized in that, Determining the earliest accessible position of a candidate lane segment on the first lane line based on the earliest accessible position of the second lane line of the adjacent lane segments of the candidate lane segment includes: The orientation side of the first lane line on the candidate lane segment is designated as the first orientation side; The earliest accessible position of the candidate lane segment on the first lane is determined based on the position point located after the earliest accessible position on the second lane at the permitted lane change position on the first lane. Wherein, the second lane line is the lane line of the first reference lane segment on the first orientation side; the first reference lane segment is adjacent to the candidate lane segment on the first orientation side.

4. The method according to claim 1, characterized in that, The step of determining the latest possible exit position for each lane line corresponding to the candidate lane segment based on the allowed exit conditions of the exit endpoints of the candidate lane segment in the current navigation scenario includes: If, under the current navigation scenario, it is permissible to exit the exit endpoint corresponding to the candidate lane segment, then the exit endpoint of the candidate lane segment shall be taken as the latest exit position corresponding to each lane line of the candidate lane segment. If detachment from the detachment endpoint corresponding to the candidate lane segment is not allowed under the current navigation scenario, then for any third lane line corresponding to the candidate lane segment, the latest detachment position of the candidate lane segment on the third lane line is determined according to the latest detachment position of the fourth lane line of the adjacent lane segment of the candidate lane segment. The third lane line and the fourth lane line are located on the same side of their respective lanes.

5. The method according to claim 4, characterized in that, Determining the latest detachment position of the candidate lane segment on the third lane line based on the latest detachment position of the fourth lane line of the adjacent lane segment of the candidate lane segment includes: The orientation side of the third lane line on the candidate lane segment is designated as the second orientation side; Based on the position point of the candidate lane segment located on the third lane line before the latest exit position on the fourth lane line at the permitted lane change position of the third lane line, determine the latest exit position of the candidate lane segment on the third lane line. The fourth lane line is the lane line of the second reference lane segment on the second orientation side; the second reference lane segment is adjacent to the candidate lane segment on the second orientation side.

6. The method according to any one of claims 1-5, characterized in that, The step of determining the passable lane area corresponding to the target road segment based on the earliest accessible position and the corresponding latest exit position of each candidate lane segment includes: For each candidate lane segment, the earlier of the earliest accessible positions for each lane line corresponding to the candidate lane segment is taken as the reversible entry position for each lane line corresponding to the candidate lane segment; and, The later position among the latest possible exit positions of each lane line corresponding to the candidate lane segment is taken as the exit reversible position of each lane line corresponding to the candidate lane segment. The lane area constructed by the entry and exit positions of the variable lane on each lane line of the at least one candidate lane segment is taken as the passable lane area corresponding to the target road segment.

7. The method according to claim 6, characterized in that, The step of defining the lane area constructed by the entry and exit points of the variable lanes on each lane line of the at least one candidate lane segment as the passable lane area corresponding to the target road segment includes: The lane area constructed by the entry and exit positions of the variable lane on each lane line of the at least one candidate lane segment is used as the initial passable area. If the initial passable area corresponds to a single-sided lane weaving situation, then the boundary line to be adjusted and the direction to be adjusted are determined according to the lane weaving type; Centered on the intersection point, rotate the boundary line to be adjusted by a preset angle along the direction to be adjusted to determine the area to be removed; By removing the areas to be removed from the initial passable area, the passable lane area corresponding to the target road segment is obtained.

8. The method according to claim 7, characterized in that, The step of determining the boundary line to be adjusted and the direction to be adjusted based on the lane weaving type includes: If the lane weaving type is a merging type, then the boundary line of the merging lane in the exit direction in the initial passable area is taken as the boundary line to be adjusted, and the direction opposite to the merging direction is taken as the direction to be adjusted. If the lane weaving type is a diversion type, then the boundary line of the diversion lane in the entry direction in the initial passable area is taken as the boundary line to be adjusted, and the direction with the same direction as the diversion direction is taken as the direction to be adjusted.

9. A device for determining a passable lane area, characterized in that, include: The first determining module is used to determine at least one candidate lane segment corresponding to the target road segment covered by the navigation path in the current navigation scenario; The second determining module is used to determine the entry endpoint and exit endpoint corresponding to each candidate lane segment. The third determining module is used to determine the earliest accessible position of the candidate lane segment based on the permitted entry status of the corresponding entry endpoint of the candidate lane segment in the current navigation scenario. as well as, The fourth determining module is used to determine the latest possible exit position of the candidate lane segment based on the allowable exit situation of the exit endpoints of the candidate lane segment in the current navigation scenario. The fifth determining module is used to determine the passable lane area corresponding to the target road segment based on the earliest enterable position and the corresponding latest exitable position of each candidate lane segment.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1-8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method described in any one of claims 1-8.

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