Data processing method and device, equipment and storage medium

Abstract

Embodiments of the present application disclose a data processing method, device and equipment, and a storage medium. The method comprises: acquiring a road width, a road length, N center lane line segments and N piecewise functions respectively representing the N center lane line segments of a road in a map which lacks side lane lines; sampling M center position points from the N center lane line segments according to the road length; M is an integer greater than or equal to N. According to the N piecewise functions and the N center lane line segments, a corresponding transverse cutting line at each of the M center position points is determined; according to the transverse cutting line corresponding to each of the M center position points and the road width, a side lane line generation function is generated; and according to the side lane line generation function, side lane lines of the road are generated. The present application can improve the generation accuracy of side lane lines.

Description

Technical Field

[0001] This application relates to the field of Internet technology, and in particular to a data processing method, apparatus, device and storage medium. Background Technology

[0002] Lane-level navigation primarily uses high-precision map data; however, due to cost limitations, the coverage area of ​​high-precision map data is relatively limited. To achieve a near-high-precision map effect in areas where such data is unavailable, the data compilation stage needs to generate some road elements based on standard definition maps (SD). Standard definition maps are two-dimensional maps that lack elevation information and represent a highly abstract representation of the real world. For example, a road might be represented by a narrow center lane line, lacking side lane lines.

[0003] Currently, side lane lines are mainly generated through rules. However, due to the low flexibility of these rules, the accuracy of side lane line generation is relatively low. Summary of the Invention

[0004] This application provides a data processing method, apparatus, device, and storage medium to improve the accuracy of generating side lane lines.

[0005] One embodiment of this application provides a data processing method, including:

[0006] Obtain the road width, road length, N center lane segments, and N piecewise functions representing the N center lane segments in the map where there are no side lane lines; N is a positive integer greater than 1.

[0007] Based on the road lengths mentioned above, M center position points are sampled from the N center lane segments; M is an integer greater than or equal to N.

[0008] Based on the above N piecewise functions and the above N center lane segments, determine the transverse cutting lines corresponding to the above M center position points respectively;

[0009] Based on the transverse cutting lines corresponding to the M center locations and the road width, a side lane line generation function is generated; based on the side lane line generation function, the side lane lines of the road are generated.

[0010] One embodiment of this application provides a data processing apparatus, including:

[0011] The acquisition module is used to acquire the road width, road length, N center lane segments, and N piecewise functions representing the aforementioned N center lane segments in the map for roads lacking side lane lines; N is a positive integer greater than 1.

[0012] The sampling module is used to sample M center position points from the N center lane segments based on the road length mentioned above; M is an integer greater than or equal to N.

[0013] The determination module is used to determine the transverse cutting lines corresponding to the M center position points based on the above N piecewise functions and the above N center lane segments;

[0014] The generation module is used to generate a side lane line generation function based on the transverse cutting lines corresponding to the M center positions and the road width; and to generate the side lane lines of the road based on the side lane line generation function.

[0015] One embodiment of this application provides a computer device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method described above.

[0016] One embodiment of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the above-described method.

[0017] One embodiment of this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method.

[0018] In this application, N piecewise functions corresponding to N center lane segments and N center lane segments are used to determine the transverse cutting lines corresponding to M center position points. The transverse cutting lines are line segments including the center position points on the center lane lines and the side shape position points on the side lane lines. That is, the transverse cutting lines corresponding to the M center position points can reflect the relationship between the center lane lines and the side lane lines (such as distance), and also the relationship between the various side shape position points on the side lane lines (such as angle). A side lane line generation function is generated based on the transverse cutting lines and the road width. Based on this function, the side lane lines are generated. This function is equivalent to a side lane line generation optimization model, reflecting the requirements that the side lane lines should meet. This side lane line generation function transforms the hard constraints in the rule-based method into flexible constraints; that is, different roads correspond to different side lane line generation functions. The side lane line generation method based on this function has adaptability, can adapt to various road scenarios, and improves the accuracy of side lane line generation. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0020] Figure 1a This is a schematic diagram of the center lane line in a common navigation electronic map provided in this application;

[0021] Figure 1b This is a schematic diagram of the center lane line and side lane lines in a common navigation electronic map provided in this application;

[0022] Figure 1c This is a schematic diagram of the center lane line, left lane line, and right lane line of a road provided in this application;

[0023] Figure 1d This is a schematic diagram of a road surface provided in this application;

[0024] Figure 2 This is a schematic diagram of the structure of a data processing system provided in this application;

[0025] Figure 3a This is a schematic diagram of a data processing method provided in this application.

[0026] Figure 3b This is a schematic diagram of a data processing method provided in this application.

[0027] Figure 4 This is a flowchart illustrating a data processing method provided in this application;

[0028] Figure 5 This is a schematic diagram of sampling center position points from N center lane segments provided in this application;

[0029] Figure 6 This is a schematic diagram of how to obtain the center lane segment to which the j-th center position point belongs, as provided in this application;

[0030] Figure 7 This is a flowchart illustrating another data processing method provided in this application;

[0031] Figure 8 This is a schematic diagram illustrating the relationship between a first direction vector, a second direction vector, and a unit tangent vector provided in this application.

[0032] Figure 9 This is a schematic diagram illustrating the relationship between a first distance variable and a second distance variable provided in this application;

[0033] Figure 10 This is a schematic diagram of the structure of a data processing device provided in an embodiment of this application;

[0034] Figure 11 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0036] Lane-level navigation primarily utilizes high-precision map data; however, due to cost limitations, the coverage area of ​​high-precision map data is relatively limited. To achieve a near-high-precision map effect in areas lacking such data, road elements need to be generated from the SD map during the data compilation stage. This application addresses the problem of generating road surfaces in such situations, specifically referring to the left and right lane lines.

[0037] In standard navigation maps, roads are typically represented by a narrow, broken line segment (hereinafter referred to as a link), such as... Figure 1a As shown, each line represents a road, and each link is composed of several discrete shape points (which can be called center shape location points). In ordinary navigation maps, each link has some attributes, such as road grade, number of lanes, etc. The road width can be calculated from these attributes according to the relevant regulations on road width in road standards, and recorded as the road width. In this application, the link is considered as the center lane line of the road.

[0038] Therefore, the problem of generating road surfaces can be reduced to calculating the position points of the side shapes of the left and right lane lines, given the center lane line and road width. That is, as follows: Figure 1b As shown, the middle segment of each road is called the center lane line, and the segments on both sides are called the left lane line and the right lane line. Furthermore, the problem of generating road surfaces can be reduced to generating two equidistant polyline segments on either side of a given polyline segment consisting of discrete points, at a certain distance from the given polyline segment. For example... Figure 1cAs shown, given the link and road width, a left lane line is generated to the left by half the road width, and a right lane line is generated to the right by half the road width. The left and right lane lines together form the road surface, as shown. Figure 1d As shown.

[0039] To facilitate a clearer understanding of this application, the data processing system implementing this application will be introduced first, such as... Figure 2 As shown, this data processing system includes servers and terminal clusters. A terminal cluster can include one or more terminals; the number of terminals will not be limited here. Figure 2 As shown, taking a terminal cluster consisting of four terminals as an example, the terminal cluster can specifically include a first terminal, a second terminal, a third terminal, and a fourth terminal. It can be understood that the first terminal, the second terminal, the third terminal, and the fourth terminal can all connect to the server via the network so that each terminal can interact with the server through the network connection.

[0040] Understandably, a server can be a single physical server, a server cluster or distributed system consisting of at least two physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud knowledge base, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery network (CDN), and big data and artificial intelligence platforms.

[0041] Specifically, "terminal" can refer to in-vehicle terminals, smartphones, tablets, laptops, desktop computers, smart speakers, speakers with screens, smart TVs, smartwatches, etc., but is not limited to these. Various terminals and servers can be connected directly or indirectly via wired or wireless communication.

[0042] Each terminal can have a map application installed and running. This map application can be a standalone application, a web application, or a mini-program within a host application. The terminal can receive navigation requests entered by the user in the map application. If the navigation request includes roads lacking side lane lines, the terminal can send the navigation request to the server and receive navigation data returned by the server. This navigation data includes a road surface generated by the server, which includes the side lane lines of the road.

[0043] The server can be used to provide backend services for map applications. For example, the server can generate side lane lines of a road based on a navigation request, generate navigation data based on the side lane lines, and return the navigation data to the terminal.

[0044] Figure 2The data processing system in the document can be used to implement the data processing method of this application, such as... Figure 2 Any terminal (using the first terminal as an example) and server can be used to implement Figure 3a and Figure 3b The data processing method in the process. The first terminal has a map application installed, and the server can refer to the backend service provided for the map application.

[0045] like Figure 3a and Figure 3b As shown, the data processing method may include the following steps:

[0046] S11. Obtain the center shape location point of the initial center lane line; the first terminal can receive navigation requests entered by the user in the map application. If the navigation request includes roads lacking side lane lines, the first terminal can send the navigation request to the server. The navigation request includes the road identifier of the current road (such as location coordinates, name, etc.). The server can obtain the center shape location point of the initial center lane line of the road from the map data based on the road identifier in the navigation request; the center shape location point reflects the outline of the center lane line.

[0047] S12. Smooth the initial center lane line to obtain a smoothed center lane line. The server can connect every two adjacent center shape positions on the initial center lane line to obtain N initial center lane segments, and obtain the interpolation function corresponding to each initial center lane segment. Based on the interpolation function, interpolate the corresponding initial center lane segments to obtain N center lane segments. Determine the interpolation algorithm corresponding to the center lane segments as the piecewise function of the center lane segments, and determine the N center lane segments as the smoothed center lane line. Figure 3a As shown, by smoothing the initial center lane line and filtering out the center shape location points with abrupt curvature changes, the center lane line of the road becomes smoother and more in line with the actual road conditions, which helps to improve the accuracy of subsequent side lane line generation.

[0048] S13. Obtain the transverse cutting lines corresponding to each center location; the server can obtain the road width and length from the map data, and based on the road length, sample M center location points from N center lane lines. Alternatively, it can use equidistant sampling to sample M center location points from N center lane segments. The server can then determine the transverse cutting lines at the M center locations based on the N center lane segments and N piecewise functions. Figure 3a In the diagram, the transverse cutting line at each center location point is perpendicular to the tangent of the center lane segment at that center location point, and the transverse cutting line at each center location point contains the corresponding center location point.

[0049] S14. Based on the side lane line generation function, determine the position coordinates of the side shape location points; the server can generate a side lane line generation function based on the transverse cutting lines and road widths corresponding to the M center location points respectively. This side lane line generation function reflects the requirements that the side lane lines should meet; based on the side lane line generation function, determine the position coordinates of the side shape location points. For example... Figure 3b As shown, the left shape position point on the left lane line and the right shape position point on the right lane line are both located on the transverse cutting line. The distances from the left shape position point and the right shape position point on the same transverse cutting line to their corresponding center position points are almost the same.

[0050] S15. Based on the position coordinates of the side shape location points, generate side lane lines. The server can return the position coordinates of each side shape location point to the first terminal. The first terminal can connect the left shape location points according to their position coordinates to obtain the left lane line; and connect the right shape location points according to their position coordinates to obtain the right lane line. The road surface of the road is generated from the left and right lane lines. This road surface can be used to provide navigation services for the vehicle corresponding to the first terminal, which is beneficial for the vehicle to achieve autonomous driving, assisted driving, etc.

[0051] In summary, this application generates side lane lines by constructing a side lane line generation function. Specifically, it achieves the goal of widening the road surface from the center lane line by establishing an optimization model (i.e., the side lane line generation function). The optimization model fully considers the requirements that the two generated side lane lines need to meet. The optimization model transforms many hard constraints in the rule-based method into flexible constraints, thus possessing adaptability. For extreme scenarios, it can dynamically and automatically make trade-offs, relaxing some constraint requirements to avoid widening failures.

[0052] Further, please see Figure 4 This is a flowchart illustrating a data processing method provided in an embodiment of this application. The method is executed by a computer device, which includes at least one of the aforementioned terminals and servers. Specifically, the terminal has a map application installed and running. The method can be executed by the terminal's map application, and the server can act as a backend server for the map application on the terminal, providing backend services for the map application installed and running on the terminal. Figure 4 As shown, the method may include the following steps:

[0053] S101. Obtain the road width, road length, N center lane segments, and N piecewise functions representing the aforementioned N center lane segments for roads lacking side lane lines in the map; N is a positive integer greater than 1.

[0054] In this application, a computer device can obtain the road width and center lane line of a road that lacks side lane lines from map data; based on the center lane line, it can obtain N center lane line segments and N piecewise functions that represent the N center lane line segments respectively, that is, one piecewise function is used to represent one center lane line segment.

[0055] The side lane lines may include left lane lines and right lane lines. In this case, the road lacks at least one of the left lane lines and right lane lines. This application mainly uses the case of a road lacking left lane lines and right lane lines as an example for illustration.

[0056] The center lane line can refer to the initial center lane line of the road that has been smoothed. The smoothing process refers to the initial softening of the excessive curvature of the initial center lane line. In other words, the smoothing process can refer to the adjustment of the curvature in the initial center lane line to avoid excessive curvature.

[0057] In one embodiment, the computer device can segment the initial center lane line to obtain N initial center lane line segments, and obtain the interpolation function corresponding to each of the N initial center lane line segments. This interpolation function reflects the interpolation position coordinates of the interpolation points on the initial center lane line segments. Based on the interpolation functions corresponding to the N initial center lane line segments, interpolation processing is performed on the N initial center lane lines to obtain N center lane line segments. The interpolation function corresponding to each center lane line is determined as the piecewise function corresponding to the center lane line segment.

[0058] The computer equipment can segment the initial center lane line using either of the following two segmentation methods: ① Non-equidistant segmentation, where any two adjacent center shape positions in the initial center lane line are considered as one initial center lane line segment; ② Equidistant segmentation, where the initial center lane line is sampled at equal intervals, and any two sampling points are considered as one initial center lane line segment. This method is equivalent to a low-pass filter, filtering out high-frequency glitch (sampling points with curvature greater than the curvature threshold) on the initial center lane line to achieve preliminary smoothing.

[0059] The interpolation function can include linear interpolation function, Lagrange interpolation function, spline interpolation function (i.e., polynomial interpolation function). In this application, spline interpolation function is used as an example for illustration. Using a low-order spline interpolation function can produce similar effects to a high-order polynomial interpolation function.

[0060] For example, the spline interpolation function of a cubic polynomial can be used as an example. The spline interpolation function of this cubic polynomial can be expressed by the following formula (1):

[0061]

[0062] Among them, (x k,t y k,t ) is the position coordinate function of each center point on the k-th center lane segment, which is the piecewise function corresponding to the k-th center lane segment, 0≤t≤1 ， These are the polynomial coefficients.

[0063] When t = 0, the position coordinates of the starting point of the kth center lane segment can be calculated using the following formula (2):

[0064]

[0065] When t=1, the position coordinates of the starting point of the kth center lane segment can be calculated using the following formula (3):

[0066]

[0067] S102. Based on the road length mentioned above, sample M center position points from the N center lane segments mentioned above; M is an integer greater than or equal to N.

[0068] In this application, the computer device can sample M center position points from the N center lane segments according to the road length. The M center position points can be position points on the N center lane lines and can be used to reflect the outline of the center lane lines of the road.

[0069] The M center position points can be obtained by sampling from N center lane segments using an equidistant sampling method, meaning that the distance between any two adjacent center position points is the same. Alternatively, the M center position points can be obtained by sampling from N center lane segments using a non-equidistant sampling method, meaning that the distance between two adjacent center position points is different from the distance between any two adjacent center position points.

[0070] For example, let's take the equidistant sampling method as an example, assuming the sampling distance is L. s The road length is L, and the starting and ending points of the center lane line need to be sampled. When L sWhen ≥L, it is obvious that M=2, and only the position point at the start position and the position point at the end position of the center lane line are obtained. When L s <L, where ceil is the ceiling function. For example, as shown Figure 5 , assuming that the length of the center lane line is 14 meters, L s =1 meter, the computer device may sample a center position point on the center lane line every 1 meter, to obtain 15 center position points, and the distance between any two adjacent center position points is 1 meter.

[0071] After acquiring the road length L and the number of sampling points M, the computer device may equally sample M center position points on the center lane line (N center lane segments), and the distances from the M center position points to the start position point may be expressed by the following formula (4):

[0072]

[0073] where the road length may be determined based on the first derivative of each piecewise function, and the road length may be expressed by the following formula (5):

[0074]

[0075] where (x' in formula (5) k,t , y ′ k,t ) may be the first derivative of the k-th piecewise function, and the first derivative of the k-th piecewise function may be expressed by the following formula (6):

[0076]

[0077] S103: Determine, based on the N piecewise functions and the N center lane segments, transverse cutting lines respectively corresponding to the M center position points.

[0078] In this application, the computer device may determine, based on the N piecewise functions and the N center lane segments, tangents respectively corresponding to the M center position points, and determine, based on the tangents, the transverse cutting lines respectively corresponding to the M center position points.

[0079] Herein, the transverse cutting line may refer to a line segment that is perpendicular to the tangent at the center position point, and the length of the transverse cutting line is greater than the road width; the transverse cutting line includes the center position point on the center lane line and a side shape position point on a side lane line. That is, the transverse cutting lines respectively corresponding to the M center position points can reflect the relationship (such as distance and the like) between the center lane line and the side lane line, and can also reflect the relationship (such as angle and the like) between respective side shape position points on the side lane line.

[0080] Among them, the side shape location point can refer to the location point that reflects the outline of the side lane line.

[0081] In one embodiment, step S102 may include: the computer device obtaining, based on the segmentation method, the N segment lengths corresponding to the N center lane segments, and the distance between the j-th center position point and the starting center position point of the road; j is a positive integer less than or equal to M. One center lane segment corresponds to one segment length, the segment length reflects the length of the center lane segment, and the sum of the N segment lengths is the road length. The computer device can determine the n-th center lane segment to which the j-th center position point belongs from the N center lane segments based on the N segment lengths and the distance between the positions; that is, the n-th center lane segment may refer to the center lane segment where the j-th center position point is located among the N center lane segments. The computer device obtains the segmentation function corresponding to the n-th center lane segment from the N segmentation functions; and obtains the original tangent vector of the n-th center lane segment at the j-th center position point based on the segmentation function corresponding to the n-th center lane segment, the distance between the positions, and the N segment lengths. Based on the original tangent vector, the j-th lateral cutting line corresponding to the j-th center position point is determined, and this process continues until the lateral cutting lines corresponding to the M center position points are obtained. That is, the j-th lateral cutting line is perpendicular to the tangent line of the n-th center lane segment at the j-th center position point. Obtaining the lateral cutting line at each center position point helps to construct an accurate side lane line generation function and improves the accuracy of side lane line generation.

[0082] Wherein, the original tangent vector of the nth center lane segment at the jth center position point reflects the direction vector of the tangent of the nth center lane segment at the jth center position point.

[0083] Optionally, the computer device can construct a length array corresponding to N center lane segments. This length array reflects the segment lengths corresponding to each center lane segment. This length array can be represented by the following formula (7):

[0084]

[0085] In formula (7), each pair of adjacent elements in the length array reflects the distance range from the center point of a center lane segment to the starting center point of the center lane line, and the difference between each pair of adjacent elements in the length array reflects the segment length of a center lane segment. k It can refer to the segment length of the k-th center lane segment.

[0086] For example, [0,L1] represents the distance range from the center point of the first center lane segment to the starting point of the center lane line. That is, 0 in [0,L1] reflects that the first center point of the first center lane segment is the starting center point of the center lane line, and L1 in [0,L1] reflects that the distance between the last center point of the first center lane segment and the starting center point of the center lane line is L1. That is, the segment length of the first center lane segment is: L1-0=L1.

[0087] In one embodiment, obtaining the original tangent vector of the nth center lane segment at the jth center position point based on the piecewise function corresponding to the nth center lane segment, the distance between the position points, and the N segment lengths includes: the computer device determining the position number of the jth center position point on the nth center lane segment based on the distance between the position points and the N segment lengths; the position number reflects which center position point the jth center position point is on the nth center lane segment. The computer device determining the position coordinate function of the jth center position point based on the position number and the piecewise function corresponding to the nth center lane segment; that is, the computer device can substitute the position number into the piecewise function corresponding to the nth center lane segment to obtain the position coordinate function of the jth center position point. The computer device can differentiate the position coordinate function of the jth center position point to obtain the original tangent vector of the nth center lane segment at the jth center position point.

[0088] For example, such as Figure 6 As shown, a computer device can use a binary search algorithm to obtain the center lane segment to which the j-th center position point belongs. This process can include the following steps:

[0089] S21. Obtain the location distance s, taking the example of sampling from M center locations using an equidistant sampling method, assuming the sampling distance is L. s Since the initial center point is the first center point, the distance to the j-th center point is (j-1)*L. s =s.

[0090] S22. Determine if s is less than or equal to 0. If yes, proceed to step S23; otherwise, proceed to step S24.

[0091] S23, Return 0; When s is less than or equal to 0, it indicates that the j-th center position point is the starting center position point, and 0 can be returned. 0 indicates that the j-th center position point belongs to the first center lane segment.

[0092] S24. Determine if s is greater than or equal to L; if yes, proceed to step S25; otherwise, proceed to step S26.

[0093] S25. Return to N-1; When s is greater than or equal to L, it indicates that the j-th center position point is the center position point of the end point, and N-1 can be returned. N-1 means that the j-th center position point belongs to the N-th center lane segment.

[0094] S26. Set initial values: wo = 0, hi = N, result = -1; wo and hi are intermediate variables, and result is the value to be returned.

[0095] S27. Determine if wo is less than or equal to hi; if no, proceed to step S28; if yes, proceed to step S29.

[0096] S28. Return result, where result indicates that the j-th center position point belongs to the (result-1)-th center lane segment.

[0097] S29, mid = (wo + hi) / 2; S30, whether a[mid] is less than or equal to s; if no, proceed to step S31; if yes, proceed to step S32. a[mid] represents the mid-th element in formula (7), that is, to determine whether the mid-th element in formula (7) is less than or equal to s. If no, proceed to step S31; if yes, proceed to step S32.

[0098] S31, hi = mid-1;

[0099] S32, result = mid; S33, wo = mid + 1, and continue to return to S27 until result is returned. Based on result, determine the center lane segment to which the j-th center position point belongs.

[0100] In one embodiment, assuming the distance between the locations is s, the j-th center location is the i-th center location of the n-th center lane segment, i.e., the location number is i, and t = t i Based on the proportional relationship between each center point and the segment length, t i It can be expressed using the following formula (8):

[0101]

[0102] in, L represents the sum of the segment lengths of the (n-1) center lane segments preceding the nth center lane segment. g Let represent the segment length of the g-th center lane line segment. Let i and t... i Substituting into the above formula (1), we can obtain the position coordinate function of the j-th center point. The position coordinate function of the j-th center point can be expressed by the following formula (9):

[0103]

[0104] Wherein, the original tangent vector (x) of the nth center lane segment at the jth center position point mentioned above. i ′ ,y i ′ The following formula (10) can be used to represent it.

[0105]

[0106] In one embodiment, the computer device can normalize the original tangent vector to obtain the unit tangent vector of the nth center lane segment at the jth center position point; generate a first direction vector and a second direction vector that are perpendicular to the unit tangent vector at the jth center position point; the direction indicated by the first direction vector is opposite to the direction indicated by the second direction vector. The first direction vector may be a vector pointing to the left lane line, and the second direction vector may be a vector pointing to the right lane line. The computer device can determine the jth lateral cutting line corresponding to the jth center position point based on the first direction vector, the second direction vector, and the segment length of the lateral cutting line to be generated, that is, taking the jth center position point as the center point, extending to both sides according to the first direction vector and the second direction vector, to obtain a lateral cutting line with a length equal to the segment length.

[0107] The length of the horizontal cutting line segment can be preset, and the segment length is greater than the road width.

[0108] Wherein, the unit tangent vector It can be expressed using the following formula (11):

[0109]

[0110] The unit tangent vector can be rotated 90 degrees to the left to obtain the first direction vector. The unit tangent vector and the first direction vector are perpendicular to each other, and this perpendicular relationship can be expressed by the following formula (12):

[0111]

[0112] Based on formula (12), this first direction vector It can be expressed using the following formula (13):

[0113]

[0114] The unit tangent vector can be rotated 90 degrees to the right to obtain the second direction vector. The unit tangent vector and the second direction vector are perpendicular to each other, and this perpendicular relationship can be expressed by the following formula (14):

[0115]

[0116] Based on formula (14), this second direction vector It can be expressed using the following formula (15):

[0117]

[0118] S104. Based on the transverse cutting lines corresponding to the M center locations and the road width, generate a side lane line generation function; generate the side lane lines of the road based on the side lane line generation function.

[0119] In this application, a computer device can generate a side lane line generation function based on the transverse cutting lines corresponding to the M center locations and the road width, wherein the side lane line generation function reflects the requirements that the side lane line should meet; and generate the side lane line of the road based on the side lane line generation function.

[0120] Among these features, computer equipment can display the side lane lines of the road in lane-level navigation, which helps to provide vehicles with more accurate navigation services.

[0121] In this application, N piecewise functions corresponding to N center lane segments and N center lane segments are used to determine the transverse cutting lines corresponding to M center position points. The transverse cutting lines are line segments including the center position points on the center lane lines and the side shape position points on the side lane lines. That is, the transverse cutting lines corresponding to the M center position points can reflect the relationship between the center lane lines and the side lane lines (such as distance), and also the relationship between the various side shape position points on the side lane lines (such as angle). A side lane line generation function is generated based on the transverse cutting lines and the road width. Based on this function, the side lane lines are generated. This function is equivalent to a side lane line generation optimization model, reflecting the requirements that the side lane lines should meet. This side lane line generation function transforms the hard constraints in the rule-based method into flexible constraints; that is, different roads correspond to different side lane line generation functions. The side lane line generation method based on this function has adaptability, can adapt to various road scenarios, and improves the accuracy of side lane line generation.

[0122] Further, please see Figure 7This is a flowchart illustrating a data processing method provided in an embodiment of this application. The method is executed by a computer device, which includes at least one of the aforementioned terminals and servers. Specifically, the terminal has a map application installed and running. The method can be executed by the terminal's map application, and the server can act as a backend server for the map application on the terminal, providing backend services for the map application installed and running on the terminal. Figure 7 As shown, the method may include the following steps:

[0123] S201. Obtain the road width, road length, N center lane segments, and N piecewise functions representing the aforementioned N center lane segments for roads lacking side lane lines in the map; N is a positive integer greater than 1.

[0124] S202. Based on the road length mentioned above, sample M center position points from the N center lane segments mentioned above; M is an integer greater than or equal to N.

[0125] S203. Based on the above N piecewise functions and the above N center lane segments, determine the transverse cutting lines corresponding to the above M center position points respectively.

[0126] S204. Obtain the line segment length of the j-th horizontal cutting line corresponding to the j-th center position point, the position coordinate function of the j-th center position point, and the first direction vector and the second direction vector corresponding to the j-th horizontal cutting line; j is a positive integer less than or equal to M.

[0127] S205. Based on the line segment length, the first direction vector, and the position coordinate function of the j-th center point, determine the position coordinate function of the first end point of the j-th transverse cutting line. Based on the line segment length, the second direction vector, and the position coordinate function of the j-th center point, determine the position coordinate function of the second end point of the j-th transverse cutting line.

[0128] In this application, since the distance from the j-th center point to the first side endpoint is half the length of the line segment, and the unit direction vector pointing from the j-th center point to the first side endpoint is the first direction vector, the computer device can determine the position coordinate function of the first side endpoint of the j-th transverse cutting line based on the line segment length, the first direction vector, and the position coordinate function of the j-th center point. Similarly, since the distance from the j-th center point to the second side endpoint is half the length of the line segment, and the unit direction vector pointing from the j-th center point to the second side endpoint is the second direction vector, the computer device can determine the position coordinate function of the second side endpoint of the j-th transverse cutting line based on the line segment length, the second direction vector, and the position coordinate function of the j-th center point.

[0129] The first side endpoint can refer to the left endpoint of the j-th horizontal cutting line, and the second side endpoint can refer to the right endpoint of the j-th horizontal cutting line.

[0130] In this context, assuming the length of each transverse cutting line is H, which can be preset (e.g., H = 100 meters), the computer device can calculate the position coordinate function of the first end point based on the following formula (16).

[0131]

[0132] The computer device can calculate the position coordinate function of the second end point based on the following formula (17).

[0133]

[0134] For example, such as Figure 8 As shown, the coordinate function of the j-th center point is (x i y i The unit tangent vector of the nth center lane segment at the jth center position point is... The first direction vector that is perpendicular to the unit tangent vector at the j-th center point is: The second direction vector that is perpendicular to the unit tangent vector at the j-th center point is: The left endpoint of the horizontal cutting line corresponding to the j-th center point is The right endpoint is

[0135] S206. Based on the position coordinate function of the first side endpoint and the position coordinate function of the second side endpoint, generate the position coordinate function of the side shape position point corresponding to the j-th center position point.

[0136] Among them, the side shape position points can refer to the left shape position points and the right shape position points. The left shape position points are used to reflect the outline of the left lane line, and the right shape position points reflect the outline of the right lane line.

[0137] In one embodiment, generating the position coordinate function of the side shape position point corresponding to the j-th center position point based on the position coordinate functions of the first side endpoint and the second side endpoint includes: the computer device determining a third direction vector pointing from the first side endpoint to the second side endpoint based on the position coordinate functions of the first side endpoint and the second side endpoint; normalizing the third direction vector to obtain the unit direction vector corresponding to the third direction vector. Since the unit direction vector pointing from the first side endpoint to the first side shape position point is the same as the unit direction vector corresponding to the third direction vector, the computer device can generate the position coordinate function of the first side shape position point corresponding to the j-th center position point based on the position coordinate function of the first side endpoint, the unit direction vector, and a first distance variable; the first distance variable reflects the distance between the first side shape position point and the first side endpoint.

[0138] Here, the first side endpoint can refer to the left endpoint of the horizontal cutting line, the second side endpoint can refer to the right endpoint of the horizontal cutting line, and the unit direction vector corresponding to the third direction vector can refer to the vector pointing from the left endpoint to the right endpoint. It can be expressed using the following formula (18):

[0139]

[0140] The first side shape location point can refer to the left side shape location point, such as... Figure 9 As shown, the distance between the first side shape location point and the first side endpoint (i.e., the first distance variable) is: The computer device can use the following formula (19) to calculate the position coordinate function of the first side shape position point corresponding to the j-th center position point.

[0141]

[0142] Among them, the position coordinate function It can be referred to as the i-th left-side shape position point of the left lane line.

[0143] Since the unit direction vector pointing from the first side endpoint to the second side shape position point is the same as the unit direction vector corresponding to the third direction vector, the position coordinate function of the second side shape position point corresponding to the j-th center position point is generated based on the position coordinate function of the first side endpoint, the unit direction vector, and the second distance variable; the second distance variable is a variable reflecting the distance between the second side shape position point and the first side endpoint.

[0144] The second side shape location point can refer to the right side shape location point, such as... Figure 9 As shown, the distance between the second side shape location point and the first side endpoint (i.e., the second distance variable) is: The computer device can use the following formula (20) to calculate the position coordinate function of the second side shape position point corresponding to the j-th center position point.

[0145]

[0146] Among them, the position coordinate function It can be referred to as the i-th right-side shape position point of the right lane line.

[0147] Among them, such as Figure 9 As shown, the distance from the j-th center point to the first side endpoint is...

[0148] S207. Based on the road width and the position coordinate functions of the side shape position points corresponding to the M center position points, the line segment length and the road width, generate the side lane line constraint function, and determine the side lane line generation function and the position coordinate function.

[0149] In this application, by generating side lane line constraint functions, that is, by modeling, the requirements that the side lane lines need to meet are functionalized, that is, hard constraints are transformed into flexible constraints. This avoids the problems of weak generalization ability and poor robustness of rule-based generation methods. It can adapt to complex scenarios, be fully automatic and do not require manual intervention, and can significantly save on manual operation costs.

[0150] Among them, the side lane line constraint function and the position coordinate function are both functions of the first distance variable and the second distance variable.

[0151] The side lane line constraint function reflects the requirements that the side lane line should meet, such as: (1) the distance between the left lane line and the right side lane line should be close to the road width; (2) the left lane line and the right side lane line should be as smooth as possible; (3) the change of road width should be as smooth as possible to avoid sudden changes in road width; (4) the distance from the side shape position point on the left lane line to the corresponding center position point should be as similar as possible to the distance from the side shape position point on the right side lane line to the corresponding center position point.

[0152] In one embodiment, generating the side lane line constraint function based on the road width, the position coordinate functions of the side shape position points corresponding to the M center position points, the line segment length, and the road width includes: the computer device generating a lane line smoothing constraint function based on the position coordinate functions of the side shape position points corresponding to the M center position points; the lane line smoothing constraint function is used to constrain the left lane line and the right side lane line to be as smooth as possible. The computer device generates a road width constraint function based on the road width, the first distance variable and the second distance variable corresponding to the M center position points; the first distance variable is the distance variable from the first side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line, and the second distance variable is the distance variable from the second side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line. This road width constraint function is used to constrain the change of road width to be as smooth as possible, avoid abrupt changes in road width, and ensure that the distance between the left lane line and the right side lane line approximates the road width.

[0153] Furthermore, the computer equipment can generate a position point distance constraint function based on the first and second distance variables corresponding to the M center position points, and the line segment lengths. This function constrains the distance from the side shape position points on the left lane line to their corresponding center position points, ensuring that the distances are as similar as possible to those on the right lane line. The computer equipment can sum the lane line smoothing constraint function, the road width constraint function, and the position point distance constraint function to obtain the side lane line constraint function. By generating this constraint function, and then generating side lane lines based on it, the flexibility and accuracy of side lane line generation are improved.

[0154] In one embodiment, generating a lane line smoothing constraint function based on the position coordinate functions of the side shape position points corresponding to the M center position points includes: minimizing the sum of the squared distances between any two adjacent side position points on the same side lane line to ensure the side lane line itself is as smooth as possible. Therefore, the computer device can determine the position point distance function between two adjacent side shape position points on the same side based on the position coordinate functions of the M center position points. This position point distance function can be a function of the squared distance. Summing the position point distance functions between two adjacent side shape position points on the same side yields the distance smoothing constraint functions corresponding to the two side lane lines. Summing the distance smoothing constraint functions corresponding to the two side lane lines yields the road's distance smoothing constraint function.

[0155] For example, according to the above formula (19), the coordinate function of the (i+1)th left-side shape position point on the left lane line. It can be expressed using the following formula (21):

[0156]

[0157] Among them, in formula (21) Let be the first distance variable from the left endpoint of the horizontal cutting line corresponding to the (i+1)th center position point to the (i+1)th left shape position point. (The text then abruptly shifts to a seemingly unrelated topic: "from the left lane line...") arrive The location point distance function (distance squared function) can be expressed by the following formula (22):

[0158]

[0159] make Then formula (22) can be transformed into the following formula (23):

[0160]

[0161] Among them, in formula (23) This represents the square of the distance between the i-th left-side shape position point and the (i+1)-th left-side shape position point on the left lane line. The distance functions corresponding to each position point on the left lane line are summed to obtain the distance smoothing constraint function corresponding to the left lane line. The distance smoothing constraint function corresponding to the left lane line can be expressed by the following formula (24):

[0162]

[0163] Similarly, the distance smoothing constraint function corresponding to the right lane line can be expressed by the following formula (25):

[0164]

[0165] Among them, in formula (25) It represents the square of the distance between the i-th right-side shape location point and the (i+1)-th right-side shape location point on the right lane line.

[0166] The distance smoothing constraint function corresponding to the right lane line and the distance smoothing constraint function corresponding to the left lane line are summed to obtain the distance smoothing constraint function of the road. The distance smoothing constraint function of the road can be expressed by the following formula (26):

[0167]

[0168] In formula (26), minV1 can refer to the distance smoothing constraint function of the road.

[0169] To achieve smoothness, besides minimizing the distance between adjacent side position points on the same side lane line, it's also desirable that the angle between any three adjacent side position points on the same side lane line is as close to 180 degrees as possible. Therefore, the computer equipment can determine the angle function between three adjacent side shape position points on the same side based on the position coordinate functions of the M center position points respectively. Summing the angle functions between these three adjacent side shape position points yields the angle smoothing constraint functions for both lane lines. Summing the angle smoothing constraint functions for both lane lines yields the road angle smoothing constraint function. Summing the distance smoothing constraint function and the angle smoothing constraint function yields the lane line smoothing constraint function. By constraining the distance between two adjacent side shape points on the same side and the angle between three adjacent side shape position points, the side lane lines are made smoother, improving the accuracy of side lane line generation.

[0170] For example, according to the above formula (19), the coordinate function of the (i-1)th left-side shape position point on the left lane line. It can be expressed using the following formula (27):

[0171]

[0172] Among them, in formula (27) Let be the first distance variable from the left endpoint of the horizontal cutting line corresponding to the (i-1)th center position point to the (i-1)th left shape position point. point to vector It can be expressed using the following formula (28):

[0173]

[0174] make: The above formula (28) can be transformed into the following formula (29):

[0175]

[0176] Similarly, from point to vector It can be expressed using the following formula (30):

[0177]

[0178] In order to achieve and To make the included angle as close to 180 degrees as possible, we can require that the vectors... sum vector The sum of them is The modulus length should be as close to 0 as possible, therefore It can be expressed using the following formula (31):

[0179]

[0180] Formula (31) can be called the angle function between three adjacent left-side shape position points on the left lane line; let: Then formula (31) can be transformed into the following formula (32):

[0181]

[0182] In order to make The module length should be as close to 0 as possible, that is, we hope... To be as small as possible, the angle smoothing constraint function corresponding to the left lane line can be expressed by the following formula (33):

[0183]

[0184] Similarly, the angle smoothing constraint function corresponding to the right lane line can be expressed by the following formula (34):

[0185]

[0186] Summing formulas (33) and (34) yields the road angle smoothing constraint function, which can be expressed by formula (35):

[0187]

[0188] In formula (35), minV2 can refer to the road angle smoothing constraint function, which is used to constrain the angle between every three adjacent side position points on the same lane line to be as small as possible.

[0189] In one embodiment, generating the road width constraint function based on the road width and the first and second distance variables corresponding to the M center positions respectively includes: the computer device can perform subtraction on the first and second distance variables corresponding to the same center position point to obtain the local width functions corresponding to the M center positions respectively; the local width function reflects the calculated width from the left lane line to the right lane line. For example, by subtracting the second distance variable corresponding to the i-th left shape position point from the second distance variable corresponding to the i-th right shape position point, the i-th local width function can be the local width function corresponding to the j-th center position point among the M center vehicle position points, and the i-th local width function can be expressed by the following formula (36):

[0190]

[0191] Among them, w in formula (36) i It can refer to the i-th local width function.

[0192] To ensure that the width indicated by the local width function is as close as possible to the expected width (the aforementioned road width), the deviation between each local width function and the expected width can be minimized. Therefore, the computer device can determine the local width constraint function based on the local width function corresponding to the M center locations and the aforementioned road width (expected road width); this local width constraint function can be expressed by the following formula (37):

[0193]

[0194] In formula (37), minV3 refers to the local width constraint function, which is used to constrain the deviation between the width of the two side lane lines corresponding to each center position and the expected width to be as small as possible; W can refer to the road width, i.e. the expected width.

[0195] To ensure that the change in road width is as smooth as possible and to avoid abrupt changes in road width, the absolute value of the difference between any two adjacent local width functions can be minimized. The computer device can determine the width change constraint function based on the local width functions corresponding to each of the M center positions. This width change constraint function can be expressed by the following formula (38):

[0196]

[0197] In formula (38), minV4 is the width variation constraint function, w i+1Let be the local width constraint function corresponding to the (j+1)th center point. Summing the above local width constraint function and the above width variation constraint function yields the road width constraint function. Generating the road width constraint function facilitates modeling to ensure that the side lane lines meet road width requirements, transforming hard constraints into flexible constraints. This avoids the problems of weak generalization ability and poor robustness of rule-based generation methods, thus improving the accuracy of side lane line generation.

[0198] Let the intermediate variable u i ≥0 (i=1,…,M-1), and Then the above formula (38) can be transformed into the following formula (39):

[0199]

[0200] Add constraint equations: The width between the two side lane lines at each center point should have a minimum width W. min and the maximum width limit W max To avoid situations where the road is too narrow or too wide, the constraint equation should be as shown in formula (40):

[0201] W min ≤w i ≤W max (i=1,…,M)(40)

[0202] That is, constraint equation (40) can be transformed into the following formula (41):

[0203]

[0204] W min and W max It can be preset.

[0205] In one embodiment, generating the position point distance constraint function based on the first and second distance variables corresponding to the M center position points and the line segment length includes: ensuring that the distances from the side shape position points on the two side lane lines to their corresponding center position points are as equal as possible, i.e., requiring the midpoints of the side shape position points on the two side lane lines to be on the center lane line as much as possible. Therefore, the computer device can sum the first and second distance variables corresponding to the same center position point to obtain the total position point distance function corresponding to the M center position points; and subtract the total position point distance function corresponding to the M center position points from the line segment length to obtain the distance deviation function corresponding to the M center position points. The position point distance constraint function is then generated based on the distance deviation function corresponding to the M center position points. By generating the position point distance constraint function, the requirements that each side position point on the two side lane lines needs to satisfy are modeled (functionalized), transforming hard constraints into flexible constraints. This avoids the problems of weak generalization ability and poor robustness of rule-based generation methods, and helps improve the generation accuracy of side lane lines.

[0206] For example, for the i-th (i = 1, ..., M) horizontal cutting line, suppose the first distance variable corresponding to the i-th left-side shape position point is... The second distance variable corresponding to the i-th right-side shape position point is The distance from the left endpoint of the i-th horizontal cutting line to the corresponding center point The midpoint of the left and right side shape positions is: The location point distance constraint function can be expressed by the following formula (42):

[0207]

[0208] In formula (42), minV5 is the location point distance constraint function.

[0209] The computer equipment can linearly weight V1, V2, V3, V4, and V5 to obtain the side lane line constraint function, thus transforming the multi-objective optimization problem into a single-objective optimization problem. The side lane line constraint function can be expressed by the following formula (43):

[0210] V=K1V1+K2V2+K3V3+K4V4+K5V5(43)

[0211] Where V is the side lane line constraint function, and K1, K2, K3, K4, and K5 are the weight coefficients corresponding to V1, V2, V3, V4, and V5, respectively. The larger the coefficient, the more important the corresponding objective (constraint function). They can be manually specified according to different scenarios and are the hyperparameters of the optimization model. For example, K1=3, K2=3, K3=1, K4=100, and K5=10 can be taken, which means optimizing to ensure that the road width is uniform and centered.

[0212] S208. Generate the side lane lines of the road according to the side lane line generation function.

[0213] In one embodiment, the aforementioned side lane line generation function includes a side lane line constraint function and a position coordinate function for the first distance variable and the second distance variable corresponding to the M center position points, respectively. The first distance variable is the distance variable from the first side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line, and the second distance variable is the distance variable from the second side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line. Step S208 may include: the computer device calculating the values ​​of the first distance variable and the second distance variable corresponding to the M center position points based on the aforementioned side lane line constraint function.

[0214] Solve using the above formula (43) and and u i Substituting (i=1,…,M-1), V1, V2, V3, V4, and V5 into formula (43) yields the following formula (44):

[0215]

[0216] at the same time,

[0217] It is easy to verify that the above model (side lane constraint function) is a convex quadratic programming model. In specific solutions, open-source convex optimization libraries can be used. These libraries include the Operator Splitting Quadratic Programming (OSQP) solver for convex quadratic programming problems, and the open-source large-scale nonlinear programming solver IPOPT (Interior Point OPTimizer, IPOPT). Convex quadratic programming models have excellent properties. First, as a convex optimization problem, the local optimum is also the global optimum, ensuring consistent results and stability. Second, it has strong mathematical support and fast solution speed. The solution is obtained through... and The corresponding values ​​will be Substituting the value of into the above formula (19), the position coordinates of each left-side shape point of the left lane line can be calculated. The left lane line is then obtained by connecting the left-side shape points sequentially according to their position coordinates. Substituting the value of into the above formula (20), the position coordinates of each right-side shape location point of the right-side lane line can be calculated. According to the position coordinates of each right-side shape location point, the right-side lane line is obtained by connecting each right-side shape location point in sequence. By establishing an optimization mathematical model, the requirements that the ideal side lane line should meet are reflected in the constraint function, and then mature mathematical methods can be used to systematically solve the problem of widening a line into a surface.

[0218] Please see Figure 10 This application provides a schematic diagram of the structure of a data processing device according to an embodiment. For example... Figure 10 The data processing apparatus may include:

[0219] The acquisition module 1101 is used to acquire the road width, road length, N center lane segments, and N piecewise functions representing the aforementioned N center lane segments in the map for roads lacking side lane lines; N is a positive integer greater than 1.

[0220] The sampling module 1102 is used to sample M center position points from the N center lane segments according to the road length mentioned above; M is an integer greater than or equal to N.

[0221] The determination module 1103 is used to determine the transverse cutting lines corresponding to the M center position points based on the above N piecewise functions and the above N center lane segments.

[0222] The generation module 1104 is used to generate a side lane line generation function based on the transverse cutting lines corresponding to the M center positions and the road width; and to generate the side lane lines of the road based on the side lane line generation function.

[0223] Optionally, module 1103 is determined, specifically for:

[0224] Obtain the lengths of the N segments corresponding to the N center lane segments, and the distance between the j-th center position point and the starting center position point of the road; j is a positive integer less than or equal to M;

[0225] Based on the above N segment lengths and the above location point distances, determine the nth center lane segment to which the jth center location point belongs from the above N center lane segments;

[0226] From the above N piecewise functions, obtain the piecewise function corresponding to the nth center lane segment;

[0227] Based on the piecewise function corresponding to the nth center lane segment, the distance between the above-mentioned locations, and the above-mentioned N segment lengths, obtain the original tangent vector of the nth center lane segment at the jth center location point;

[0228] Based on the original tangent vector, determine the j-th horizontal cutting line corresponding to the j-th center position point, until the horizontal cutting lines corresponding to the M center position points are obtained.

[0229] Optionally, module 1103 is determined, specifically for:

[0230] Based on the distances between the above locations and the lengths of the above N segments, determine the position number of the above j-th center location point in the above n-th center lane segment;

[0231] Based on the above location number and the piecewise function corresponding to the above nth center lane segment, determine the position coordinate function of the above jth center position point;

[0232] Differentiating the position coordinate function of the j-th center position point yields the original tangent vector of the n-th center lane segment at the j-th center position point.

[0233] Optionally, module 1103 is determined, specifically for:

[0234] The original tangent vector is normalized to obtain the unit tangent vector of the nth center lane segment at the jth center position point.

[0235] Generate a first direction vector and a second direction vector that are perpendicular to the unit tangent vector at the j-th center position point; the direction indicated by the first direction vector is opposite to the direction indicated by the second direction vector.

[0236] Based on the first direction vector, the second direction vector, and the segment length of the transverse cutting line to be generated, the j-th transverse cutting line corresponding to the j-th center position point is determined.

[0237] Optionally, module 1104 is generated, specifically for:

[0238] Obtain the line segment length of the j-th horizontal cutting line corresponding to the j-th center position point, the position coordinate function of the j-th center position point, and the first and second direction vectors corresponding to the j-th horizontal cutting line; j is a positive integer less than or equal to M;

[0239] Based on the line segment length, the first direction vector, and the position coordinate function of the j-th center point, the position coordinate function of the first side endpoint of the j-th transverse cutting line is determined; based on the line segment length, the second direction vector, and the position coordinate function of the j-th center point, the position coordinate function of the second side endpoint of the j-th transverse cutting line is determined.

[0240] Based on the position coordinate functions of the first and second side endpoints, the position coordinate functions of the side shape points corresponding to the j-th center point are generated.

[0241] Based on the road width and the position coordinate functions of the side shape positions corresponding to the M center positions, the line segment length and the road width, a side lane line constraint function is generated. The side lane line constraint function and the position coordinate function are then determined as the side lane line generation function.

[0242] Optionally, module 1104 is generated, specifically for:

[0243] Based on the position coordinate functions of the first and second side endpoints, a third directional vector pointing from the first side endpoint to the second side endpoint is determined.

[0244] Normalize the above third-party direction vector to obtain the unit direction vector corresponding to the above third-party direction vector.

[0245] Based on the position coordinate function of the first side endpoint, the unit direction vector, and the first distance variable, the position coordinate function of the first side shape position point corresponding to the j-th center position point is generated; the first distance variable is a variable reflecting the distance between the first side shape position point and the first side endpoint.

[0246] Based on the position coordinate function of the first side endpoint, the unit direction vector, and the second distance variable, the position coordinate function of the second side shape position point corresponding to the j-th center position point is generated; the second distance variable is a distance variable reflecting the distance between the second side shape position point and the first side endpoint.

[0247] Optionally, module 1104 is generated, specifically for:

[0248] Based on the position coordinate functions of the side shape positions corresponding to the M center positions, a lane line smoothing constraint function is generated.

[0249] Based on the road width and the first and second distance variables corresponding to the M center positions, a road width constraint function is generated. The first distance variable is the distance from the first side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line, and the second distance variable is the distance from the second side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line.

[0250] Based on the first and second distance variables corresponding to the M center locations and the length of the line segments, a location point distance constraint function is generated.

[0251] The side lane line constraint function is obtained by summing the above lane line smoothing constraint function, the above road width constraint function, and the above location point distance constraint function.

[0252] Optionally, module 1104 is generated, specifically for:

[0253] Based on the position coordinate functions of the two adjacent side shape position points on the same side corresponding to the above M center position points, determine the position point distance function between the two adjacent side shape position points on the same side.

[0254] A distance smoothing constraint function is generated based on the distance function between two adjacent side shape location points located on the same side.

[0255] Based on the position coordinate functions of the three adjacent side shape position points on the same side corresponding to the above M center position points, the angle function between the three adjacent side shape position points on the same side is determined.

[0256] Generate an angle smoothing constraint function based on the angle function between three adjacent side shape location points located on the same side;

[0257] The lane line smoothing constraint function is obtained by summing the distance smoothing constraint function and the angle smoothing constraint function.

[0258] Optionally, module 1104 is generated, specifically for:

[0259] By subtracting the first and second distance variables corresponding to the same center position point, the local width functions corresponding to the above M center position points are obtained respectively.

[0260] Based on the local width functions corresponding to the M center locations and the road width, determine the local width constraint function;

[0261] Based on the local width function corresponding to each pair of adjacent center positions among the above M center position points, determine the width variation constraint function;

[0262] The road width constraint function is obtained by summing the above local width constraint function and the above width variation constraint function.

[0263] Optionally, module 1104 is generated, specifically for:

[0264] Summing the first and second distance variables corresponding to the same center location point yields the total distance function for the M center location points.

[0265] The total distance function corresponding to each of the M center positions is subtracted from the length of the line segment to obtain the distance deviation function corresponding to each of the M center positions.

[0266] Based on the distance deviation functions corresponding to the M center locations, a distance constraint function for each location is generated.

[0267] Optionally, the above-mentioned side lane line generation function includes a side lane line constraint function and a position coordinate function for the first distance variable and the second distance variable corresponding to the above M center position points respectively. The first distance variable is the distance variable from the first side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line, and the second distance variable is the distance variable from the second side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line.

[0268] Optionally, the generation module 1104 is specifically used to calculate the values ​​of the first distance variable and the second distance variable corresponding to the M center position points based on the above-mentioned side lane line constraint function.

[0269] Substitute the values ​​of the first distance variable and the second distance variable corresponding to the above M center position points into the position coordinate function corresponding to the above M center position points respectively to obtain the position coordinates of the side shape position points corresponding to the above M center position points respectively.

[0270] By sequentially connecting the side shape position points corresponding to the M center position points, the side lane lines of the road are obtained.

[0271] In this application, N piecewise functions corresponding to N center lane segments and N center lane segments are used to determine the transverse cutting lines corresponding to M center position points. The transverse cutting lines are line segments including the center position points on the center lane lines and the side shape position points on the side lane lines. That is, the transverse cutting lines corresponding to the M center position points can reflect the relationship between the center lane lines and the side lane lines (such as distance), and also the relationship between the various side shape position points on the side lane lines (such as angle). A side lane line generation function is generated based on the transverse cutting lines and the road width. Based on this function, the side lane lines are generated. This function is equivalent to a side lane line generation optimization model, reflecting the requirements that the side lane lines should meet. This side lane line generation function transforms the hard constraints in the rule-based method into flexible constraints; that is, different roads correspond to different side lane line generation functions. The side lane line generation method based on this function has adaptability, can adapt to various road scenarios, and improves the accuracy of side lane line generation.

[0272] Please see Figure 11 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Figure 11 As shown, the computer device can refer to the aforementioned identification device, and the computer device 1000 can refer to a terminal or server, including: a processor 1001, a network interface 1004, and a memory 1005. Furthermore, the computer device 1000 may also include: a user interface 1003, and at least one communication bus 1002. The communication bus 1002 is used to implement communication between these components. In some embodiments, the user interface 1003 may include a display screen and a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as at least one disk storage device. The memory 1005 may also optionally be at least one storage device located remotely from the aforementioned processor 1001. Figure 11 As shown, the memory 1005, which is a computer-readable storage medium, may include an operating system, a network communication module, a user interface module, and computer programs.

[0273] exist Figure 11In the computer device 1000 shown, the network interface 1004 provides network communication functionality; the user interface 1003 is mainly used to provide an input interface; and the processor 1001 can be used to call computer programs stored in the memory 1005 to implement the following steps of this application:

[0274] Obtain the road width, road length, N center lane segments, and N piecewise functions representing the N center lane segments in the map where there are no side lane lines; N is a positive integer greater than 1.

[0275] Based on the road lengths mentioned above, M center position points are sampled from the N center lane segments; M is an integer greater than or equal to N.

[0276] Based on the above N piecewise functions and the above N center lane segments, determine the transverse cutting lines corresponding to the above M center position points respectively;

[0277] Based on the transverse cutting lines corresponding to the M center locations and the road width, a side lane line generation function is generated; based on the side lane line generation function, the side lane lines of the road are generated.

[0278] Optionally, the processor 1001 can be used to call a computer program stored in the memory 1005 to implement the following steps of this application:

[0279] Obtain the lengths of the N segments corresponding to the N center lane segments, and the distance between the j-th center position point and the starting center position point of the road; j is a positive integer less than or equal to M;

[0280] Based on the above N segment lengths and the above location point distances, determine the nth center lane segment to which the jth center location point belongs from the above N center lane segments;

[0281] From the above N piecewise functions, obtain the piecewise function corresponding to the nth center lane segment;

[0282] Based on the piecewise function corresponding to the nth center lane segment, the distance between the above-mentioned locations, and the above-mentioned N segment lengths, obtain the original tangent vector of the nth center lane segment at the jth center location point;

[0283] Based on the original tangent vector, determine the j-th horizontal cutting line corresponding to the j-th center position point, until the horizontal cutting lines corresponding to the M center position points are obtained.

[0284] Optionally, the processor 1001 can be used to call a computer program stored in the memory 1005 to implement the following steps of this application:

[0285] Based on the distances between the above locations and the lengths of the above N segments, determine the position number of the above j-th center location point in the above n-th center lane segment;

[0286] Based on the above location number and the piecewise function corresponding to the above nth center lane segment, determine the position coordinate function of the above jth center position point;

[0287] Differentiating the position coordinate function of the j-th center position point yields the original tangent vector of the n-th center lane segment at the j-th center position point.

[0288] Optionally, the above session intent information is predicted through N steps; N is an integer greater than 1.

[0289] Optionally, the processor 1001 can be used to call a computer program stored in the memory 1005 to implement the following steps of this application:

[0290] The original tangent vector is normalized to obtain the unit tangent vector of the nth center lane segment at the jth center position point.

[0291] Generate a first direction vector and a second direction vector that are perpendicular to the unit tangent vector at the j-th center position point; the direction indicated by the first direction vector is opposite to the direction indicated by the second direction vector.

[0292] Based on the first direction vector, the second direction vector, and the segment length of the transverse cutting line to be generated, the j-th transverse cutting line corresponding to the j-th center position point is determined.

[0293] Optionally, the processor 1001 can be used to call a computer program stored in the memory 1005 to implement the following steps of this application:

[0294] Obtain the line segment length of the j-th horizontal cutting line corresponding to the j-th center position point, the position coordinate function of the j-th center position point, and the first and second direction vectors corresponding to the j-th horizontal cutting line; j is a positive integer less than or equal to M;

[0295] Based on the line segment length, the first direction vector, and the position coordinate function of the j-th center point, the position coordinate function of the first side endpoint of the j-th transverse cutting line is determined; based on the line segment length, the second direction vector, and the position coordinate function of the j-th center point, the position coordinate function of the second side endpoint of the j-th transverse cutting line is determined.

[0296] Based on the position coordinate functions of the first and second side endpoints, the position coordinate functions of the side shape points corresponding to the j-th center point are generated.

[0297] Based on the road width and the position coordinate functions of the side shape positions corresponding to the M center positions, the line segment length and the road width, a side lane line constraint function is generated. The side lane line constraint function and the position coordinate function are then determined as the side lane line generation function.

[0298] Optionally, the processor 1001 can be used to call a computer program stored in the memory 1005 to implement the following steps of this application:

[0299] Based on the position coordinate functions of the first and second side endpoints, a third directional vector pointing from the first side endpoint to the second side endpoint is determined.

[0300] Normalize the above third-party direction vector to obtain the unit direction vector corresponding to the above third-party direction vector.

[0301] Based on the position coordinate function of the first side endpoint, the unit direction vector, and the first distance variable, the position coordinate function of the first side shape position point corresponding to the j-th center position point is generated; the first distance variable is a variable reflecting the distance between the first side shape position point and the first side endpoint.

[0302] Based on the position coordinate function of the first side endpoint, the unit direction vector, and the second distance variable, the position coordinate function of the second side shape position point corresponding to the j-th center position point is generated; the second distance variable is a distance variable reflecting the distance between the second side shape position point and the first side endpoint.

[0303] Optionally, the processor 1001 can be used to call a computer program stored in the memory 1005 to implement the following steps of this application:

[0304] Based on the position coordinate functions of the side shape positions corresponding to the M center positions, a lane line smoothing constraint function is generated.

[0305] Based on the road width and the first and second distance variables corresponding to the M center positions, a road width constraint function is generated. The first distance variable is the distance from the first side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line, and the second distance variable is the distance from the second side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line.

[0306] Based on the first and second distance variables corresponding to the M center locations and the length of the line segments, a location point distance constraint function is generated.

[0307] The side lane line constraint function is obtained by summing the above lane line smoothing constraint function, the above road width constraint function, and the above location point distance constraint function.

[0308] Optionally, the processor 1001 can be used to call a computer program stored in the memory 1005 to implement the following steps of this application:

[0309] Based on the position coordinate functions of the two adjacent side shape position points on the same side corresponding to the above M center position points, determine the position point distance function between the two adjacent side shape position points on the same side.

[0310] A distance smoothing constraint function is generated based on the distance function between two adjacent side shape location points located on the same side.

[0311] Based on the position coordinate functions of the three adjacent side shape position points on the same side corresponding to the above M center position points, the angle function between the three adjacent side shape position points on the same side is determined.

[0312] Generate an angle smoothing constraint function based on the angle function between three adjacent side shape location points located on the same side;

[0313] The lane line smoothing constraint function is obtained by summing the distance smoothing constraint function and the angle smoothing constraint function.

[0314] Optionally, the processor 1001 can be used to call a computer program stored in the memory 1005 to implement the following steps of this application:

[0315] By subtracting the first and second distance variables corresponding to the same center position point, the local width functions corresponding to the above M center position points are obtained respectively.

[0316] Based on the local width functions corresponding to the M center locations and the road width, determine the local width constraint function;

[0317] Based on the local width function corresponding to each pair of adjacent center positions among the above M center position points, determine the width variation constraint function;

[0318] The road width constraint function is obtained by summing the above local width constraint function and the above width variation constraint function.

[0319] Optionally, the processor 1001 can be used to call a computer program stored in the memory 1005 to implement the following steps of this application:

[0320] Summing the first and second distance variables corresponding to the same center location point yields the total distance function for the M center location points.

[0321] The total distance function corresponding to each of the M center positions is subtracted from the length of the line segment to obtain the distance deviation function corresponding to each of the M center positions.

[0322] Based on the distance deviation functions corresponding to the M center locations, a distance constraint function for each location is generated.

[0323] Optionally, the above-mentioned side lane line generation function includes a side lane line constraint function and a position coordinate function for the first distance variable and the second distance variable corresponding to the above M center position points respectively. The first distance variable is the distance variable from the first side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line, and the second distance variable is the distance variable from the second side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line.

[0324] Optionally, the processor 1001 can be used to call a computer program stored in the memory 1005 to implement the following steps of this application:

[0325] Based on the above side lane line constraint function, the values ​​of the first distance variable and the second distance variable corresponding to the above M center position points are calculated;

[0326] Substitute the values ​​of the first distance variable and the second distance variable corresponding to the above M center position points into the position coordinate function corresponding to the above M center position points respectively to obtain the position coordinates of the side shape position points corresponding to the above M center position points respectively.

[0327] By sequentially connecting the side shape position points corresponding to the M center position points, the side lane lines of the road are obtained.

[0328] In this application, N piecewise functions corresponding to N center lane segments and N center lane segments are used to determine the transverse cutting lines corresponding to M center position points. The transverse cutting lines are line segments including the center position points on the center lane lines and the side shape position points on the side lane lines. That is, the transverse cutting lines corresponding to the M center position points can reflect the relationship between the center lane lines and the side lane lines (such as distance), and also the relationship between the various side shape position points on the side lane lines (such as angle). A side lane line generation function is generated based on the transverse cutting lines and the road width. Based on this function, the side lane lines are generated. This function is equivalent to a side lane line generation optimization model, reflecting the requirements that the side lane lines should meet. This side lane line generation function transforms the hard constraints in the rule-based method into flexible constraints; that is, different roads correspond to different side lane line generation functions. The side lane line generation method based on this function has adaptability, can adapt to various road scenarios, and improves the accuracy of side lane line generation.

[0329] It should be understood that the computer device described in the embodiments of this application can execute the data processing method described in the corresponding embodiments above, or it can execute the data processing apparatus described in the corresponding embodiments above, and will not be repeated here. In addition, the beneficial effects of using the same method will not be repeated here.

[0330] In practice, the collection and processing of data in this application should strictly comply with the requirements of relevant laws and regulations, obtain the informed consent or separate consent of the data subject, and carry out subsequent data use and processing within the scope of laws and regulations and the authorization of the data subject.

[0331] Furthermore, it should be noted that this application also provides a computer-readable storage medium storing a computer program executed by the aforementioned data processing apparatus. This computer program includes program instructions, which, when executed by the processor, enable the execution of the data processing method described in the corresponding embodiments above. Therefore, further details will not be repeated here. Additionally, the beneficial effects of using the same method will also not be repeated. For technical details not disclosed in the embodiments of the computer-readable storage medium involved in this application, please refer to the description of the method embodiments of this application.

[0332] As an example, the above program instructions can be deployed and executed on a computer device, or deployed and executed on at least two computer devices in one location, or executed on at least two computer devices distributed in at least two locations and interconnected by a communication network. At least two computer devices distributed in at least two locations and interconnected by a communication network can form a blockchain network.

[0333] The aforementioned computer-readable storage medium may be a data processing apparatus provided in any of the foregoing embodiments or a central storage unit of the aforementioned computer device, such as a hard disk or central storage of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, smart memory card (SMC), secure digital (SD) card, flash memory card, etc., provided on the computer device. Furthermore, the computer-readable storage medium may include both the central storage unit and external storage devices of the computer device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0334] The terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish content in different media, rather than to describe a specific order. Furthermore, the term "comprising," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other step units inherent to these processes, methods, apparatuses, products, or devices.

[0335] In this application embodiment, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0336] In practice, the collection and processing of data in this application should strictly comply with the requirements of relevant laws and regulations, obtain the informed consent or separate consent of the data subject, and carry out subsequent data use and processing within the scope of laws and regulations and the authorization of the data subject.

[0337] This application also provides a computer program product, including a computer program. When executed by a processor, the computer program implements the data processing method and decoding method described in the preceding embodiments, and therefore will not be repeated here. Furthermore, the beneficial effects of using the same method will also not be repeated. For technical details not disclosed in the embodiments of the computer program product involved in this application, please refer to the description of the method embodiments of this application.

[0338] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0339] The methods and related apparatus provided in this application are described with reference to the method flowcharts and / or structural diagrams provided in this application. Specifically, each block of the method flowcharts and / or structural diagrams, as well as combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable network-connected device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable network-connected device, create means for implementing the functions specified in one or more blocks of the flowcharts and / or one or more blocks of the structural diagrams. These computer program instructions can also be stored in a computer-readable storage medium capable of directing a computer or other programmable network-connected device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more blocks of the flowcharts and / or one or more blocks of the structural diagrams. These computer program instructions may also be loaded onto a computer or other programmable network-connected device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable device, provide steps for implementing the functions specified in one or more flowcharts and / or one or more structural diagrams in blocks.

[0340] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A data processing method, characterized in that, The method includes: Obtain the road width, road length, N center lane segments, and N piecewise functions representing the N center lane segments in the map where there are no side lane lines; N is a positive integer greater than 1. Based on the road length, M center position points are sampled from the N center lane segments; M is an integer greater than or equal to N; Based on the N piecewise functions and the N center lane segments, determine the transverse cutting lines corresponding to the M center position points respectively; Based on the transverse cutting lines corresponding to the M center locations and the road width, a side lane line generation function is generated; based on the side lane line generation function, the side lane lines of the road are generated.

2. The method as described in claim 1, characterized in that, The step of determining the transverse cutting lines corresponding to the M center position points based on the N piecewise functions and the N center lane segments includes: Obtain the lengths of the N segments corresponding to the N center lane segments, and the distance between the j-th center position point and the starting center position point of the road; j is a positive integer less than or equal to M; Based on the N segment lengths and the distances between the locations, determine the nth center lane segment to which the jth center location point belongs from the N center lane segments; From the N piecewise functions, obtain the piecewise function corresponding to the nth center lane segment; Based on the piecewise function corresponding to the nth center lane segment, the distance between the positions, and the N segment lengths, obtain the original tangent vector of the nth center lane segment at the jth center position point; Based on the original tangent vector, determine the j-th horizontal cutting line corresponding to the j-th center position point, until the horizontal cutting lines corresponding to the M center position points are obtained respectively.

3. The method as described in claim 2, characterized in that, The step of obtaining the original tangent vector of the nth center lane segment at the jth center position point based on the piecewise function corresponding to the nth center lane segment, the distance to the position point, and the N segment lengths includes: Based on the distance between the locations and the lengths of the N segments, the position number of the j-th center location point in the n-th center lane segment is determined; The position coordinate function of the j-th center position point is determined based on the position number and the piecewise function corresponding to the nth center lane segment; The original tangent vector of the nth center lane segment at the j-th center position point is obtained by differentiating the position coordinate function of the j-th center position point.

4. The method as described in claim 2, characterized in that, The step of determining the j-th horizontal cutting line corresponding to the j-th center position point based on the original tangent vector includes: The original tangent vector is normalized to obtain the unit tangent vector of the nth center lane segment at the jth center position point; Generate a first direction vector and a second direction vector that are perpendicular to the unit tangent vector at the j-th center position point; the direction indicated by the first direction vector is opposite to the direction indicated by the second direction vector. Based on the first direction vector, the second direction vector, and the segment length of the transverse cutting line to be generated, the j-th transverse cutting line corresponding to the j-th center position point is determined.

5. The method as described in claim 1, characterized in that, The step of generating the side lane line generation function based on the transverse cutting lines corresponding to the M center positions and the road width includes: Obtain the line segment length of the j-th horizontal cutting line corresponding to the j-th center position point, the position coordinate function of the j-th center position point, and the first direction vector and the second direction vector corresponding to the j-th horizontal cutting line; j is a positive integer less than or equal to M; Based on the line segment length, the first direction vector, and the position coordinate function of the j-th center point, determine the position coordinate function of the first side endpoint of the j-th horizontal cutting line; based on the line segment length, the second direction vector, and the position coordinate function of the j-th center point, determine the position coordinate function of the second side endpoint of the j-th horizontal cutting line. Based on the position coordinate functions of the first side endpoint and the second side endpoint, generate the position coordinate function of the side shape position point corresponding to the j-th center position point; Based on the road width and the position coordinate functions of the side shape position points corresponding to the M center position points, the line segment length and the road width, a side lane line constraint function is generated, and the side lane line constraint function and the position coordinate function are determined as the side lane line generation function.

6. The method as described in claim 5, characterized in that, The step of generating the position coordinate function of the side shape position point corresponding to the j-th center position point based on the position coordinate function of the first side endpoint and the position coordinate function of the second side endpoint includes: Based on the position coordinate functions of the first side endpoint and the second side endpoint, determine the third directional vector pointing from the first side endpoint to the second side endpoint; The third direction vector is normalized to obtain the unit direction vector corresponding to the third direction vector; Based on the position coordinate function of the first side endpoint, the unit direction vector, and the first distance variable, the position coordinate function of the first side shape position point corresponding to the j-th center position point is generated; the first distance variable is a variable reflecting the distance between the first side shape position point and the first side endpoint. Based on the position coordinate function of the first side endpoint, the unit direction vector, and the second distance variable, the position coordinate function of the second side shape position point corresponding to the j-th center position point is generated; the second distance variable is a variable reflecting the distance between the second side shape position point and the first side endpoint.

7. The method as described in claim 5, characterized in that, The step of generating the side lane line constraint function based on the road width, the position coordinate function of the side shape position points corresponding to the M center position points, the line segment length, and the road width includes: Based on the position coordinate functions of the side shape position points corresponding to the M center position points, a lane line smoothing constraint function is generated. Based on the road width and the first and second distance variables corresponding to the M center positions, a road width constraint function is generated; the first distance variable is the distance from the first side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line, and the second distance variable is the distance from the second side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line. Based on the first and second distance variables corresponding to the M center positions and the line segment length, a position point distance constraint function is generated. The side lane line constraint function is obtained by summing the lane line smoothing constraint function, the road width constraint function, and the location point distance constraint function.

8. The method as described in claim 7, characterized in that, The step of generating a lane line smoothing constraint function based on the position coordinate function of the side shape position points corresponding to the M center position points includes: Based on the position coordinate functions of the two adjacent side shape position points located on the same side corresponding to the M center position points, the position point distance function between the two adjacent side shape position points located on the same side is determined. A distance smoothing constraint function is generated based on the distance function between two adjacent side shape location points located on the same side. Based on the position coordinate functions of the three adjacent side shape position points on the same side corresponding to the M center position points, the angle function between the three adjacent side shape position points on the same side is determined. Generate an angle smoothing constraint function based on the angle function between three adjacent side shape location points located on the same side; The lane line smoothing constraint function is obtained by summing the distance smoothing constraint function and the angle smoothing constraint function.

9. The method as described in claim 7, characterized in that, The step of generating a road width constraint function based on the road width and the first and second distance variables corresponding to the M center positions includes: By subtracting the first and second distance variables corresponding to the same center position point, the local width functions corresponding to the M center position points are obtained respectively. Based on the local width function corresponding to the M center positions and the road width, determine the local width constraint function; The width variation constraint function is determined based on the local width function corresponding to each pair of adjacent center positions among the M center positions. The local width constraint function and the width variation constraint function are summed to obtain the road width constraint function.

10. The method as described in claim 7, characterized in that, The step of generating a location point distance constraint function based on the first distance variable and the second distance variable corresponding to the M center location points, and the line segment length, includes: Summing the first and second distance variables corresponding to the same center location point yields the total distance function of the location points corresponding to the M center location points respectively. The total distance function of the positions corresponding to the M center positions is subtracted from the length of the line segment to obtain the distance deviation function corresponding to the M center positions. Based on the distance deviation functions corresponding to the M center locations, a location point distance constraint function is generated.

11. The method as described in claim 1, characterized in that, The side lane line generation function includes a side lane line constraint function and a position coordinate function for the first distance variable and the second distance variable corresponding to the M center position points respectively. The first distance variable is the distance variable from the first side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line, and the second distance variable is the distance variable from the second side shape position point corresponding to the center position point to the first side endpoint of its corresponding transverse cutting line. The step of generating the side lane lines of the road according to the side lane line generation function includes: Based on the side lane line constraint function, the values ​​of the first distance variable and the second distance variable corresponding to the M center position points are calculated. Substitute the values ​​of the first distance variable and the second distance variable corresponding to the M center position points into the position coordinate function corresponding to the M center position points respectively to obtain the position coordinates of the side shape position points corresponding to the M center position points respectively. By sequentially connecting the side shape position points corresponding to the M center position points according to their position coordinates, the side lane lines of the road are obtained.

12. A data processing apparatus, characterized in that, The device includes: The acquisition module is used to acquire the road width, road length, N center lane segments, and N piecewise functions representing the N center lane segments in the map for roads lacking side lane lines; N is a positive integer greater than 1. The sampling module is used to sample M center position points from the N center lane segments according to the road length; M is an integer greater than or equal to N; The determination module is used to determine the transverse cutting lines corresponding to the M center position points based on the N piecewise functions and the N center lane segments; The generation module is used to generate a side lane line generation function based on the transverse cutting lines corresponding to the M center positions and the road width; and to generate the side lane lines of the road based on the side lane line generation function.

13. 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 to 11.

14. 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 according to any one of claims 1 to 11.

15. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 11.

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