CN117115773B

CN117115773B - Stop line generation method, apparatus, electronic device, medium, and program product

Info

Publication number: CN117115773B
Application number: CN202311369690.3A
Authority: CN
Inventors: 宫博
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2023-10-23
Filing date: 2023-10-23
Publication date: 2024-04-09
Anticipated expiration: 2043-10-23
Also published as: CN117115773A

Abstract

The application discloses a stop line generation method, a stop line generation device, electronic equipment, a medium and a program product, which can be applied to the field of maps; the method comprises the steps of obtaining lane data of a lane to be processed in a traffic area to be processed from map data, wherein the lane data comprise lane edges and traffic directions; for any lane to be processed, determining a candidate lane according to a lane starting position corresponding to the traffic direction of the lane to be processed; determining a stop line lane from the candidate lanes according to the traffic direction of the lane to be processed and the traffic direction of the candidate lanes; and generating a stop line of the stop line lane at the lane edge end of the stop line lane in the map data, wherein the lane edge end is associated with a lane ending position corresponding to the traffic direction of the lane to be processed. In the method, the stop line in the map data can be rapidly and accurately generated based on the lane data in the map data, so that the acquisition efficiency of the map data is improved, and the cost of data acquisition is reduced.

Description

Stop line generation method, apparatus, electronic device, medium, and program product

Technical Field

The present invention relates to the field of computer technologies, and in particular, to a stop line generating method, apparatus, electronic device, medium, and program product.

Background

With the progress of science and technology, intelligent traffic technologies such as automatic driving, auxiliary driving and intelligent navigation are widely applied, and map data becomes a crucial resource. The map data provides rich road information, and can help the vehicle to carry out key tasks such as accurate positioning, navigation, decision making and the like. Map data typically contains stop lines, which are locations where a motor vehicle needs to stop waiting or observing if it can pass.

However, in the related art, it is generally necessary to manually draw or supplement a stop line in map data by acquiring specific image or point cloud data and manually confirming that the image or point cloud data matches an actual intersection scene. This approach results in inefficient acquisition of map data, and also increases the cost of data acquisition.

Disclosure of Invention

The embodiment of the application provides a stop line generation method, a stop line generation device, an electronic device, a medium and a program product, which can rapidly and accurately generate a stop line in map data so as to improve the acquisition efficiency of the map data and reduce the cost of data acquisition.

The embodiment of the application provides a stop line generation method, which comprises the following steps: obtaining lane data of a lane to be processed in a traffic area to be processed from map data, wherein the lane data comprises lane edges and a traffic direction; determining a candidate lane according to a lane starting position corresponding to the traffic direction of any lane to be processed; determining a stop line lane from the candidate lanes according to the traffic direction of the lane to be processed and the traffic direction of the candidate lanes; and generating a stop line of the stop line lane at a lane ending position corresponding to the traffic direction of the stop line lane in the map data.

The embodiment of the application also provides a stop line generating device, which comprises: the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring lane data of a lane to be processed in a traffic area to be processed from map data, and the lane data comprises lane edges and a traffic direction; the lane candidate determining unit is used for determining a lane candidate according to a lane starting position corresponding to the traffic direction of any lane to be processed; a stop line lane determining unit, configured to determine a stop line lane from the candidate lanes according to a traffic direction of the lane to be processed and a traffic direction of the candidate lane; and the generation unit is used for generating a stop line of the stop line lane at a lane ending position corresponding to the traffic direction of the stop line lane in the map data.

In some embodiments, the acquisition unit includes a first acquisition subunit, a second acquisition subunit, and a third acquisition subunit, including: a first obtaining subunit, configured to obtain the map data, where map elements in the map data are stored in a node tree; the second acquisition subunit is used for inquiring a target node corresponding to the traffic area to be processed from the node tree; and the third acquisition subunit is used for acquiring the lane data of the lanes to be processed in the traffic area to be processed according to the map elements corresponding to the target nodes.

In some embodiments, the candidate lane determination unit includes a drawing subunit and a candidate lane determination subunit, including: the drawing subunit is used for generating a virtual traffic line for any lane to be processed along the direction opposite to the traffic direction of the lane to be processed; and the lane candidate determining subunit is used for determining a lane candidate according to the virtual passing line, and the lane boundary of the lane candidate is connected with the lane boundary of the lane to be processed through the virtual passing line.

In some embodiments, the drawing sub-units include a first drawing sub-unit, a second drawing sub-unit, and a third drawing sub-unit, including: the first drawing subunit is used for acquiring a lane boundary line to be processed of the lane to be processed aiming at any lane to be processed, wherein the lane boundary line to be processed comprises a plurality of lane position points to be processed; the second drawing subunit is used for searching a starting position point from the position points of the plurality of lanes to be processed; and the third drawing subunit is used for generating a virtual passing line for the lane to be processed along the opposite direction of the passing direction of the lane to be processed by taking the starting position point as a starting point.

In some embodiments, the third drawing subunit is specifically configured to: generating an initial virtual passing line for the lane to be processed along the opposite direction of the passing direction of the lane to be processed by taking the starting position point as a starting point; determining a target position point according to the initial virtual traffic line, wherein the target position point is a lane position point of other lanes to be processed which are associated with the lanes to be processed; and generating the virtual pass line according to the starting position point and the target position point.

In some embodiments, the stop line lane determining unit includes a first stop line lane determining subunit and a second stop line lane determining subunit, including: the first stop line lane determining subunit is used for acquiring the traffic direction of the lane to be processed and the traffic direction of the candidate lane; the second stop line lane determining subunit is configured to determine, for any lane to be processed, the lane candidate corresponding to the lane to be processed as a stop line lane if the traffic direction of the lane to be processed does not match the traffic direction of the lane candidate corresponding to the lane to be processed.

In some embodiments, the stop line generating device further includes a first culling unit including a type acquisition subunit and an auxiliary lane culling subunit, including: a type acquisition subunit, configured to acquire a lane type of the stop line lane; and the auxiliary lane removing subunit is used for removing a first stop line lane from the stop line lanes according to the lane types, wherein the first stop line lane is the stop line lane with the lane type being the auxiliary lane.

In some embodiments, the stop line generating device further includes a second culling unit including a search subunit and a stop line lane culling subunit, including: a searching subunit, configured to search, in the lane data of the stop line lane, stop line related data, where the stop line related data includes one or more of stop line data of the stop line lane, stop line data of a lane to be processed associated with the stop line lane, and traffic signal data; and the stop line lane removing subunit is used for removing a second stop line lane from the stop line lanes, wherein the second stop line lane is the stop line lane containing the stop line related data in the lane data.

In some embodiments, the generating unit includes a first generating subunit, a second generating subunit, and a third generating subunit, including: a first generating subunit, configured to obtain, for any stop line lane, a stop lane edge of the stop line lane, where the stop lane edge includes a plurality of stop lane position points; the second generation subunit is used for searching a termination position point from the plurality of stop lane position points according to the traffic direction of the stop line lane; and a third generation subunit, configured to generate a stop line of the stop line lane based on the termination location point.

In some embodiments, the stop line generating apparatus further includes a merging unit including a first merging subunit, a second merging subunit, and a third merging subunit, including: the first merging subunit is used for acquiring lane grouping information of the stop line lanes; a second merging subunit, configured to determine, from the stop line lanes, a plurality of target lanes that are adjacent and belong to the same lane group according to the lane grouping information and lane edges of the stop line lanes; and the third merging subunit is used for merging the stop lines of the plurality of target lanes to generate merged stop lines.

In some embodiments, the third merging subunit is specifically configured to: acquiring the end point position of a stop line of the target lane; comparing the end point positions of the stop lines of the plurality of target lanes, and determining a start point position and an end point position; and generating the combined stop line according to the starting point position and the end point position.

The embodiment of the application also provides electronic equipment, which comprises a processor and a memory, wherein the memory stores a plurality of instructions; the processor loads instructions from the memory to perform steps in any of the stop line generation methods provided by the embodiments of the present application.

The present embodiments also provide a computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform any of the steps in the stop line generation method provided in the embodiments of the present application.

The present embodiments also provide a computer program product comprising computer programs/instructions which, when executed by a processor, implement steps in any of the stop line generation methods provided in the embodiments of the present application.

The method and the device can acquire lane data of the lanes to be processed in the traffic area to be processed from the map data, wherein the lane data comprise lane edges and traffic directions; determining a candidate lane according to a lane starting position corresponding to the traffic direction of any lane to be processed; determining a stop line lane from the candidate lanes according to the traffic direction of the lane to be processed and the traffic direction of the candidate lanes; and generating a stop line of the stop line lane at a lane ending position corresponding to the traffic direction of the stop line lane in the map data.

In the application, the stop line lane for generating the stop line can be identified according to the traffic direction in the traffic area to be processed in the map data, and the stop line of the stop line lane can be automatically generated according to the lane edge of the stop line lane. Therefore, the stop line in the map data can be quickly and accurately generated based on the lane data in the map data, so that the acquisition efficiency of the map data is improved, and the cost of data acquisition is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1a is a schematic view of a scenario of a stop line generating method provided in an embodiment of the present application;

fig. 1b is a schematic flow chart of a stop line generating method according to an embodiment of the present application;

FIG. 1c is a schematic illustration of an intersection provided in an embodiment of the present application;

FIG. 1d is a schematic diagram of a connection between a pending lane and a candidate lane according to an embodiment of the present disclosure;

FIG. 1e is a schematic illustration of a connection between a further lane to be processed and a lane candidate provided in an embodiment of the present application;

fig. 1f is a schematic diagram of connection between a lane to be processed and a candidate lane in a pavement opening according to an embodiment of the present application;

FIG. 1g is a schematic view of a start location point and an end location point of a lane to be processed according to an embodiment of the present application;

FIG. 1h is a schematic illustration of adjacent stop line lanes belonging to the same lane group provided by an embodiment of the present application;

FIG. 1i is a schematic illustration of lanes of stop lines belonging to the same lane group but not adjacent, provided by an embodiment of the present application;

FIG. 1j is a schematic illustration of adjacent stop line lanes not belonging to the same lane group provided by an embodiment of the present application;

FIG. 2a is a flow chart of a stop line generation method according to another embodiment of the present application;

fig. 2b is an intersection surface for drawing a virtual pass line according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a stop line generating device provided in an embodiment of the present application;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

The embodiment of the application provides a stop line generation method, a stop line generation device, electronic equipment, a medium and a program product.

The stop line generating device may be integrated in an electronic device, and the electronic device may be a terminal, a server, or other devices. The terminal can be a mobile phone, a computer, intelligent voice interaction equipment, intelligent household appliances, a vehicle-mounted terminal, an aircraft and other equipment; the server may be a single server or a server cluster composed of a plurality of servers.

In some embodiments, the stop line generating device may also be integrated in a plurality of electronic devices, for example, the stop line generating device may be integrated in a plurality of servers, and the stop line generating method of the present application is implemented by the plurality of servers.

In some embodiments, the server may also be implemented in the form of a terminal.

For example, referring to fig. 1a, the stop line generation method may be implemented by a server, which may acquire lane data of a lane to be processed in a traffic area to be processed from map data, the lane data including lane edges and a traffic direction; for any lane to be processed, determining a candidate lane according to a lane starting position corresponding to the traffic direction of the lane to be processed; determining a stop line lane from the candidate lanes according to the traffic direction of the lane to be processed and the traffic direction of the candidate lanes; in the map data, a stop line of the stop line lane is generated at a lane end position corresponding to the traffic direction of the stop line lane.

The following will describe in detail. The order of the following examples is not limited to the preferred order of the examples. It will be appreciated that in the specific embodiments of the present application, where user-related data is referred to, user permissions or consent may be required when the embodiments of the present application are applied to specific products or technologies, and the collection, use and processing of the related data may be required to comply with relevant national and regional laws and regulations and standards.

In this embodiment, a stop line generating method is provided, as shown in fig. 1b, and a specific flow of the stop line generating method may be as follows:

110. and acquiring lane data of a lane to be processed in the traffic area to be processed from the map data, wherein the lane data comprises lane edges and traffic directions.

The map data is data including geographical elements such as lane data and lane-related data. For example, the map data may refer to map data of a high-definition map or lane map data. In practical applications, the map data may include lane lines such as lane edges and traffic directions, where the lane lines refer to marks for transmitting traffic information such as guidance and restriction to traffic participants with lines, road edges, and the like on the road surface of the road. And, the map data may further include traffic signals, traffic identifications, road conditions, altitude and topography data, etc. The map data can be applied to scenes such as maps, intelligent traffic systems, intelligent vehicle-road cooperation systems and the like so as to help vehicles to adapt to traffic conditions of different lanes better.

The lane side line refers to an edge line separating each lane by a line, a road edge, and the like. The passing direction refers to a direction corresponding to an identification for marking the running direction of the traffic flow on the lane. For example, in the map data, the number of the lane left edge and the number of the lane right edge may be represented by an integer type, and the data of the corresponding lane edge may be acquired according to the number of the lane left and right edge. In the map data, the traffic direction of the lane may also be represented by an integer type such as 1 for bi-directional and 2 for forward.

The traffic area to be processed refers to a traffic area in which a stop line is to be generated in the map data, and for example, the traffic area to be processed may include one or more of a road intersection (i.e., an intersection), a three-dimensional space range of the road intersection (i.e., an intersection face), and a specific area such as a school area. The lane to be processed is a lane within the traffic area to be processed.

For example, map data may be obtained, and intersection information in the map data may be queried by calling an API interface, where the queried intersection information may include, but is not limited to, longitude and latitude coordinates of an intersection, link segment information (i.e., lane data), and other related attributes.

In some embodiments, the traffic area to be processed includes an intersection surface, the intersection surface includes a three-dimensional space range of a road intersection, for example, the intersection surface may include various information such as lanes, sidewalks, traffic marks, traffic signals, pedestrian crossing facilities, and the like of the intersection, so as to provide more comprehensive basic information for the stop line generating process.

In some embodiments, map data may be stored in a node tree to enable efficient querying of lanes within a traffic area to be processed to quickly obtain lane data for the lanes to be processed. Specifically, acquiring lane data of a lane to be processed in a traffic area to be processed from map data includes:

map data are acquired, and map elements in the map data are stored in a node tree;

inquiring a target node corresponding to the traffic area to be processed from the node tree;

and acquiring lane data of the lanes to be processed in the traffic area to be processed according to the map elements corresponding to the target nodes.

The map elements refer to various elements of the map, and the map elements can comprise elements such as lanes, sidewalks, traffic marks, traffic signals, pedestrian crossing facilities and the like.

For example, the traffic area to be processed includes an intersection surface as shown in fig. 1c, to which a plurality of lanes are connected. The STREAME lookup tree (also called R tree) can be constructed based on longitude and latitude, and map elements in any spatial range in the map data are stored in R tree nodes corresponding to the spatial range according to the spatial range covered by each node in the R tree. The nodes of the R tree can be traversed according to the longitude and latitude corresponding to the traffic area to be processed, so as to inquire map elements in the space range (namely the target node) corresponding to the longitude and latitude. Taking the traffic area as an intersection surface, the traffic area is taken as an example, the space analysis can be carried out on the lanes and the intersection surface in the inquired map elements, whether the lanes are intersected with the intersection surface or not is judged, if so, the lanes are indicated to belong to the intersection surface, the lanes are taken as lanes to be processed, and the lane data of the lanes to be processed are obtained. If the traffic is not intersected, the traffic is not judged to belong to the intersection surface, and no further processing is carried out on the traffic.

120. And determining a candidate lane according to the lane starting position corresponding to the traffic direction of the lane to be processed aiming at any lane to be processed.

The lane starting position refers to a starting position determined by the passing direction of the lane to be processed. For example, the lane start position may be a start position in the passing direction of the lane to be processed. It is understood that each lane has one or more traffic directions (e.g., straight, left turn, right turn, turn around), and one or more traffic directions of the lane correspond to the same starting position, which is the lane starting position of the lane.

The candidate lane refers to a lane to be processed associated with a starting position corresponding to the traffic direction of the lane to be processed. The association relation between the candidate lane and the initial position of the lane to be processed can be direct connection or indirect connection, the connection mode between the two lanes is not necessarily visual or straight line, and the connection mode can also be curved or indirect connection through a turning area or a connection road section in an intersection and the like.

For example, as shown in the connection schematic diagram of the lane to be processed and the candidate lane in fig. 1d, the traffic direction is a straight line, the left line starting position 1 and the right line starting position 2 of the lane boundary of the lane to be processed can be determined along the opposite direction of the straight line direction, the lane connected with the starting position 1 and the starting position 2 is the candidate lane of the lane to be processed, and the candidate lane can also be regarded as the preceding lane of the lane to be processed.

In some embodiments, due to the complexity of the intersection, the starting positions of the candidate lanes and the lane to be processed are not necessarily directly associated, so in order to more accurately identify the connection relationship between the two lanes to increase the accuracy of determining the candidate lanes of the lane to be processed, a virtual traffic line may be drawn according to the traffic direction of the lane to be processed, so as to find the candidate lanes associated with the lane to be processed according to the traffic relationship simulated by the virtual traffic line. Specifically, for any lane to be processed, determining a candidate lane according to a lane start position corresponding to a traffic direction of the lane to be processed includes:

generating a virtual traffic line for any lane to be processed along the opposite direction of the traffic direction of the lane to be processed;

and determining a lane candidate according to the virtual traffic line, wherein the lane boundary of the lane candidate is connected with the lane boundary of the lane to be processed through the virtual traffic line.

The opposite direction of the traffic direction refers to the direction opposite to the traffic direction of the lane. For example, the passing direction is straight going to the east, the opposite direction is straight going to the west, the passing direction is left turning to the east, and the opposite direction is right turning to the west. I.e. the opposite direction of the traffic direction comprises the opposite direction of the geographical direction and the opposite direction of the guiding direction.

The virtual traffic line refers to a reference traffic line determined according to the traffic direction of the lane to be processed.

For example, as shown in the connection schematic diagram of the lane to be processed and the lane candidate in fig. 1d, taking the traffic direction of the lane to be processed as a straight line, a virtual traffic line may be drawn along the opposite direction of the straight line, and the lane corresponding to the lane boundary connected to the virtual traffic line may be used as the lane candidate of the lane to be processed.

As another example, as shown in the connection schematic diagram of the lane to be processed and the candidate lane in fig. 1e, taking the traffic direction of the lane to be processed as the straight line+turning left as an example, the virtual traffic line may be drawn in the opposite direction of the straight line direction and the opposite direction of the turning left, that is, the virtual traffic line 1 drawn in the opposite direction straight line and the virtual traffic line 2 turned right in the opposite direction are drawn, so that the lane to be processed connected to the virtual traffic line 1 is taken as the candidate lane 1, and the lane to be processed connected to the virtual traffic line 2 is taken as the candidate lane 2. That is, there may be one or more candidate lanes depending on the traffic direction of the lane to be processed.

For another example, as shown in the connection schematic diagram of the to-be-processed lane and the candidate lane in the road surface opening in fig. 1f, for the to-be-processed lane a with the road surface opening passing direction of straight line + right turn, three virtual passing lines may be drawn along the opposite direction of the straight line direction and the opposite direction of the right turn direction (i.e. left turn in the opposite direction), and the to-be-processed lanes corresponding to the three virtual passing lines are respectively used as the candidate lane 1, the candidate lane 2 and the candidate lane 2 of the to-be-processed lane a.

In some embodiments, the starting point of the lane to be processed is used as a starting point to draw the virtual traffic line, so that the drawing starting point of the virtual traffic line is defined, and in addition, the starting point of the lane to be processed is usually closest to the previous lane, so that the virtual traffic line can be drawn more accurately and rapidly, and the accuracy and efficiency of drawing the virtual traffic line are improved. Specifically, for any lane to be processed, generating a virtual traffic line for the lane to be processed along a direction opposite to a traffic direction of the lane to be processed, includes:

aiming at any lane to be processed, acquiring a lane boundary line to be processed of the lane to be processed, wherein the lane boundary line to be processed comprises a plurality of lane position points to be processed;

searching a starting position point from a plurality of lane position points to be processed;

and generating a virtual traffic line along the opposite direction of the traffic direction of the lane to be processed by taking the starting position point as a starting point.

The lane boundary line to be processed and the lane position point to be processed refer to the lane boundary line and the lane position point of the lane to be processed respectively. The lane position point may be represented by position coordinates identifying lane edges in the map data, which may be represented as two-dimensional coordinates or three-dimensional coordinates.

The starting position point is a lane position point corresponding to a lane starting point corresponding to a lane passing direction. In contrast, the lane position point corresponding to the lane end point corresponding to the lane passing direction is the end position point. For example, as shown in a schematic diagram of a start position point and an end position point of a lane to be processed in fig. 1g, the traffic direction of the lane to be processed is straight+left turn, the start position point of the lane to be processed is a lane position point 1 located at the start points of left and right lines, and the end position point of the lane to be processed is a lane position point 2 located at the end points of the left and right lines.

For example, to facilitate the acquisition of the start position points of the lanes, a plurality of lane position points of the lane edge may be stored in the corresponding order of the lane passing direction, for example, the lane left edge of the lane to be processed may be stored as a set { l1, l2, …, lm } of m lane position points, where l represents the position coordinates of the lane position points of the lane left edge, l1 and lm are the start position points and the end position points of the lane left edge, respectively, and the lane right edge may be stored as a set { r1, r2, …, rn } of n lane position points, where r represents the position coordinates of the lane position points of the lane right edge, and r1 and rm are the start position points and the end position points of the lane right edge, respectively. Therefore, according to the number of the lane left line and the number of the lane right line of the lane to be processed by the map data, a set of lane position points of the lane left line and a set of lane position points of the lane right line are respectively obtained from the database, and then the first lane position point, namely the starting position point l1 of the lane left line and the starting position point r1 of the lane right line, are respectively obtained from the two sets. And drawing a virtual passing line along the opposite direction of the passing direction of the lane to be processed by taking the starting point l1 and the starting point r1 as starting points, and when the virtual passing line is connected with the lane position point of any lane, considering the connected lane as a candidate lane of the lane to be processed.

In some embodiments, an initial virtual traffic line may be drawn according to a starting position point of a lane to be processed and a direction opposite to a traffic direction of the lane to be processed, and then a more accurate virtual traffic line may be generated according to a target position point determined by the initial virtual traffic line, so as to increase accuracy in determining a candidate lane. Specifically, with the starting point as a starting point, generating a virtual traffic line for the lane to be processed along a direction opposite to a traffic direction of the lane to be processed, including:

generating an initial virtual traffic line along the opposite direction of the traffic direction of the lane to be processed by taking the starting position point as a starting point;

determining a target position point according to the initial virtual traffic line, wherein the target position point is a lane position point of other lanes to be processed which are associated with the lanes to be processed;

and generating a virtual pass line according to the starting position point and the target position point.

The other lanes to be processed refer to lanes to be processed other than any lane to be processed.

For example, an initial virtual passing line of a straight line may be drawn from a start position point in the opposite direction of the passing direction of the lane a to be processed, or an initial virtual passing line of a curve may be drawn along a preset curve parameter, which is related to the lane width and the opposite direction of the passing direction of the lane a to be processed, and the preset curve parameter may include a control point parameter, an end point parameter, and the like. And searching lane position points of other lanes to be processed, which are at a preset distance from the initial virtual passing line, if lane position points 1-4 of the lanes to be processed B and C are respectively found, judging whether the lane position points 1-4 are end position points of the lanes to be processed B or C one by one, and if so, taking the end position points and the start position points as the start points and the end points of the virtual passing line to generate the virtual passing line for connecting the two lanes. If not, deleting the drawn initial virtual pass line. If the lane position points 1 to 2 in the lane position points 1 to 4 are the end position point of the left line and the end position point of the right line of the lane B to be processed, respectively, the start position point of the left line in the start position point and the end position point of the left line of the lane B to be processed, and the start position point of the right line in the start position point and the end position point of the right line of the lane B to be processed may be connected, and a virtual pass line connecting the lane a to be processed and the lane B to be processed may be generated.

In some embodiments, the lane to be processed, of which the end position point is connected with the intersection surface, may be directly searched from the lane to be processed to serve as the lane to be selected, the end position point of the lane to be selected and the start position point of the lane to be processed are used as the start point and the end point of the virtual traffic line, the virtual traffic line connecting the lane to be processed and the candidate lane corresponding to the lane to be processed is generated, if the generated virtual traffic line meets the preset condition, the lane to be selected is used as the candidate lane, and if the generated virtual traffic line does not meet the preset condition, the lane to be selected is not used as the candidate lane. The preset condition may be set according to an actual requirement or an application scene, for example, the preset condition may include that the virtual traffic line does not intersect with the lane boundary, or that the virtual traffic line matches with the traffic direction of the lane to be selected or the lane to be processed, and so on.

In some embodiments, the virtual pass line may be generated by a bezier curve generator. The bezier curve generator can generate a corresponding curve by using the starting position point and the target position point as control points.

130. And determining a stop line lane from the candidate lanes according to the traffic direction of the lane to be processed and the traffic direction of the candidate lanes.

The stop line lane refers to a lane to be processed for generating a stop line.

In the related art, it is generally necessary to draw a stop line in a lane of an intersection. Therefore, in the embodiment of the application, whether the lane to be processed and the candidate lane are located at the intersection or not can be judged according to the traffic directions of the lane to be processed and the candidate lane. For example, when the traffic directions of the lane to be processed and the candidate lane are different, the lane to be processed and the candidate lane are located at the intersection.

In some embodiments, the lane to be drawn with the stop line can be screened by matching the opposite direction of the traffic direction of the associated lane to be processed and the traffic direction of the candidate lane, so that redundant data is reduced, and the accuracy and efficiency of the stop line generation are improved. Specifically, determining a stop line lane from the candidate lanes according to the traffic direction of the lane to be processed and the traffic direction of the candidate lanes, including:

acquiring the traffic direction of a lane to be processed and the traffic direction of a candidate lane;

and aiming at any lane to be processed, if the traffic direction of the lane to be processed is not matched with the traffic direction of the lane candidate corresponding to the lane to be processed, determining the lane candidate corresponding to the lane to be processed as a stop line lane.

Wherein the direction matching may be directed in a consistent direction. For example, the traffic direction is straight or turning around, if one is turning left and one is turning around, the traffic direction is not matched, that is, if the traffic direction opposite to the traffic direction of the lane to be processed is consistent with the traffic direction of the candidate lane corresponding to the lane to be processed, the two directions are matched.

For example, the traffic directions of all the lanes to be processed in the traffic area to be processed and the traffic directions of the candidate lanes corresponding to the lanes to be processed may be obtained. And matching the passing direction of the virtual passing line (the passing direction of the virtual passing line corresponds to one passing direction of the lane to be processed) with the passing direction of the corresponding candidate lane, and taking the candidate lane as a stop line lane if the passing direction of the virtual passing line is consistent with the passing direction of the corresponding candidate lane. For example, in the intersection surface shown in fig. 1f, the traffic direction of the virtual traffic line in which the lane a to be processed connects to the lane candidate 1 is straight, and the traffic direction of the lane candidate 1 is also straight, so that the directions are identical, and the lane candidate 1 cannot be used as a stop line lane. The traffic direction of the virtual traffic line of the lane a to be processed connected with the lane 2 is right turn and is inconsistent with the traffic direction of the lane 2 straight line and the traffic direction of the virtual traffic line of the lane 3 to be processed is right turn and is inconsistent with the traffic direction of the lane 3 straight line, so that the lane 2 and the lane 3 to be processed can be used as stop line lanes.

It should be noted that, in the embodiment of the present application, the lane start positions corresponding to the traffic directions of the plurality of lanes to be processed may be connected to the same one or several candidate lanes, that is, one candidate lane may be connected to the plurality of lanes to be processed. According to the method and the device for generating the stop line, the virtual traffic line corresponding to the to-be-processed lane is compared with the traffic direction of the corresponding candidate lane, and the candidate lane with inconsistent traffic direction is screened, so that the number of times of repeatedly recording the candidate lane as the stop line lane is reduced, redundant data is reduced, and the accuracy and the efficiency of generating the stop line are improved. In addition, since the intersection generally has variable guiding lanes, the preceding lanes can be generally connected with at least one lane to be processed corresponding to the preceding lanes through virtual traffic lines, that is, the stop line lanes determined in the embodiment of the application can include all lanes of the intersection where the stop line needs to be generated.

In some embodiments, to avoid data redundancy, the stop line lanes may be deduplicated to ensure that there are no duplicate ones of the stop line lanes.

In some embodiments, auxiliary lanes that do not need a stop line may be removed from the stop line lanes according to the lane type of the stop line lanes to promote accuracy in generating the stop line. Specifically, the stop line generating method further includes:

Obtaining the lane type of a stop line lane;

and removing a first stop line lane from the stop line lanes according to the lane types, wherein the first stop line lane is a stop line lane with the lane type being an auxiliary lane.

The lanes can be classified into overtaking lanes, travelling lanes, shoulder lanes, bus lanes and the like according to functions or purposes of the lanes. Among them, a special-purpose lane such as a shoulder lane or a bus lane provided beside a road may be referred to as an auxiliary lane.

It will be appreciated that, due to the special use of auxiliary lanes such as shoulder lanes and bus lanes, it is often not necessary to draw stop lines, so that these lanes may be removed from the stop line lanes to increase the efficiency of stop line generation. For example, the lane data may further include a lane type, the lane data of all the stop line lanes may be traversed, and the lane type of each stop line lane may be searched from the lane data, if the lane type of the stop line lane a is a shoulder lane, the stop line lane a may be removed from the stop line lanes, that is, the stop line lane a is no longer used as the stop line lane.

In some embodiments, the stop line of a part of the lane may be previously acquired or generated when the map data is generated. Therefore, when the stop line is generated, the embodiment of the application can judge whether the stop line lane has the stop line according to the stop line related data so as to avoid repeated generation of the stop line, improve the efficiency of generating the stop line and avoid waste of calculation resources. Specifically, the stop line generating method further includes:

Searching for stop line related data in lane data of a stop line lane, wherein the stop line related data comprises one or more of stop line data of the stop line lane, stop line data of a lane to be processed which is related to the stop line lane and traffic signal data;

and removing a second stop line lane from the stop line lanes, wherein the second stop line lane is a stop line lane containing stop line related data in lane data.

The stop line related data refers to data related to a stop line of the stop line lane. In particular, the stop line data of the stop line lane is data indicating a lane stop line, which may include, but is not limited to, a stop line identification and/or position coordinates of the stop line, etc. Traffic signals refer to a device or system for controlling the flow of road traffic, e.g., traffic signals are typically comprised of one or more of red, yellow, and green lights, etc. Traffic signal data is data that identifies a traffic signal, which may include, but is not limited to, traffic signal identification and/or location coordinates of the traffic signal, etc.

Wherein the lane to be processed associated with the stop line lane refers to a lane subsequent to the stop line lane. It can be understood that, since the stop line lane is associated with the start position corresponding to the traffic direction of any lane to be processed, the stop line lane is the lane preceding the lane to be processed, and thus the lane to be processed is the lane following the stop line lane.

It will be appreciated that since the stop line acts to tell the vehicle that a stop is required at that location to ensure traffic safety, when the following lane has a stop line, the driver of the vehicle can determine where to stop based on the stop line of the following lane even if the current lane does not have a stop line drawn. Therefore, in this case, drawing the stop line again for the stop line lane does not play an actual traffic safety role, but may cause confusion and errors. Furthermore, lanes with traffic lights are often provided with stop lines. Therefore, whether the stop line lane has the stop line data per se, whether the subsequent lane of the stop line lane has the stop line data, and/or whether the stop line lane is provided with the traffic signal can be detected, if any stop line data or traffic signal is detected, the stop line lane is considered to be provided with the stop line, and the stop line lane can be removed from the stop line lane, namely, the stop line lane is not taken as the stop line lane any more.

140. In the map data, a stop line of the stop line lane is generated at a lane end position corresponding to the traffic direction of the stop line lane.

For example, it is possible to determine the end point of the lane edge, that is, the lane end position, along the traffic direction of the stop line lane, and generate the stop line at the end position.

In some embodiments, the stop line may be generated according to a termination position point of a lane edge of the stop line lane to generate the stop line more accurately based on the determined stop line generation position, improving accuracy of generating the stop line. Specifically, in the map data, a stop line of the stop line lane is generated at a lane end position corresponding to a traffic direction of the stop line lane, including:

for any stop line lane, acquiring a stop lane boundary of the stop line lane, wherein the stop lane boundary comprises a plurality of stop lane position points;

searching a termination position point from a plurality of stop lane position points according to the traffic direction of the stop line lane;

based on the termination position point, a stop line of the stop line lane is generated.

For example, the sets { l1, l2, …, lm } of the lane position points of the lane left side line and the sets { r1, r2, …, rn } of the lane position points of the lane right side line may be acquired from the database, respectively, based on the numbers of the lane left side line and the lane right side line of the map data stop line lane. The last lane position point in the set, namely, the end position point lm of the left line of the lane and the end position point rn of the right line of the lane, can be respectively obtained from the two sets, and a straight line connecting the start position point lm and the start position point rn, namely, the stop line can be generated.

In some embodiments, stop lines of stop line lanes adjacent to and belonging to the same lane group may be merged to simplify the number of road identifications in the map data and reduce the likelihood of visual disturbances and mix-ups. Specifically, in the map data, after generating the stop line of the stop line lane at the lane end position corresponding to the traffic direction of the stop line lane, the map data further includes:

acquiring lane grouping information of a stop line lane;

according to the lane grouping information and the lane boundary of the stop line lane, determining a plurality of adjacent target lanes belonging to the same lane grouping from the stop line lane;

and merging the stop lines of the plurality of target lanes to generate merged stop lines.

The lane grouping refers to grouping of lanes according to the use, traffic direction and other factors of the lanes. For example, lanes on the same road may be generally grouped according to the traffic direction of the lanes, the type of lanes, or the like, such as grouping lanes having the same traffic direction. For example, lanes 2 and 3 with the same traffic direction belong to the same lane group, and lanes 1 and 4 with the same traffic direction belong to the same lane group.

Wherein the lane grouping information refers to information related to lane grouping. For example, the lane packet information may include packet number and the like of each lane packet.

For example, the lane data may further include a packet number of a lane, the packet number of the lane may be found from the lane data of the stop line lane, and the lane edge number may be acquired, the stop line lane having the same packet number may be used as a lane belonging to the same lane packet, and the stop line lane adjacent to the lane edge number may be used as an adjacent lane. The stop line lanes which simultaneously satisfy the groups belonging to the adjacent and identical lanes are divided into a target lane group consisting of a plurality of stop line lanes (i.e., target lanes) which are adjacent and belong to the identical lane group. Therefore, the stop line data of all the target lanes in the target lane group can be obtained, adjacent ends of adjacent stop lines are connected, and finally the stop lines of all the target lanes in the target lane group are combined into a straight line, namely the combined stop lines. In this way, the merged stop line is used to replace the stop line of the original target lane in the map data.

Thus, as shown in the schematic diagram of the adjacent stop line lanes belonging to the same lane group in fig. 1h, for a plurality of stop line lanes adjacent to each other and belonging to the same lane group, for example, the stop line lanes 1 to 3 each having a group number (st_id) of 1, the stop lines may be merged into one new stop line, that is, the merged stop line.

As shown in fig. 1i, which is a schematic diagram of the same lane group but not adjacent stop line lanes, the group numbers of the stop line lanes 1 to 4 are all 1, and the stop line lanes 2 and 3 have no stop line, so the stop lines of the stop line lanes 1 and 4 are not adjacent. Thus, the plurality of stop line lanes 1 and 4 belonging to the same lane group but not adjacent to each other are not merged with the corresponding stop line.

As shown in fig. 1j, which is not a group of the same lane but is an adjacent stop line lane, the stop line lanes 1 to 2 are main roads, the group numbers are all 1, the stop line lane 3 is a subsidiary road, and the group numbers are 3, so the stop line lanes 1 to 2 are adjacent to the stop line lane 3 but are different in group number. Thus, for a plurality of stop line lanes such as the stop line lane 2 and the stop line lane 3 which do not belong to the same lane group but are adjacent, the stop lines are not merged, and the stop lines of the stop line lanes 1 to 2 which are adjacent and belong to the same lane group are merged.

In some embodiments, the start position and the end position of the merged stop line are determined by comparing the end positions of the plurality of target lanes to quickly and accurately generate the merged stop line based on the start position and the end position. Specifically, merging the stop lines of the plurality of target lanes to generate a merged stop line, including:

Acquiring the end point position of a stop line of a target lane;

comparing the end point positions of the stop lines of the plurality of target lanes, and determining a start point position and an end point position;

and generating a combined stop line according to the starting point position and the ending point position.

The end point positions refer to position points at two ends of the stop line. The end point position may be represented in position coordinates identifying a stop line in the map data, which may be represented as two-dimensional coordinates or three-dimensional coordinates.

Wherein the start point position and the end point position refer to the position points of the start point and the end point of the generated combined stop line, respectively.

For example, the stop line may be stored as a set { s1, s2, …, sn } of n position points stored in line order, where s represents the position coordinates of the position points in the stop line, and s1 and sn are the end point positions at both ends of the stop line, respectively. In this way, the first position point and the last position point can be acquired from the set of position points of the stop line as the end point positions of the stop line. Taking m target lanes as an example, after 2m end point positions of stop lines of the m target lanes are acquired, the 2m end point positions are compared, the position coordinate is smaller as a start point position, and the position coordinate is larger as an end point position. And finally generating a straight line connecting the starting point position and the end point position, namely a combined stop line.

In some embodiments, since the stop line of the target lane is generated by the stop position point of the lane left line and the stop position point of the lane right line thereof, the stop position point of the lane left line and the stop position point of the lane right line may be acquired from the set of the lane position points of the lane left line and the set of the lane position points of the lane right line thereof, respectively, to be the end point positions of the both ends of the stop line of the target lane, respectively.

In some embodiments, the end point positions of the stop lines of the plurality of target lanes may be compared according to the line direction of the stop line, the position coordinates in the line direction of the stop line may be smaller as the start point position, and the position coordinates in the line direction of the stop line may be larger as the end point position, so as to ensure that the generated combined stop line coincides with the direction of the original stop line. For example, a vector between the end positions of both ends of the stop line of any one of the target lanes may be calculated as a direction vector of the stop line. For the end point positions of the stop lines of the plurality of target lanes, the projection coordinates of each end point vector along the direction vector are calculated, and the end point vector with the minimum projection coordinates is selected as the start point position and the end point vector with the maximum projection coordinates is selected as the end point position.

The stop line generation scheme provided by the embodiment of the application can be applied to various intelligent traffic scenes. For example, taking an intelligent navigation scene as an example, acquiring lane data of a lane to be processed in a traffic area to be processed from map data, wherein the lane data comprises lane edges and a traffic direction; for any lane to be processed, determining a candidate lane according to a lane starting position corresponding to the traffic direction of the lane to be processed; determining a stop line lane from the candidate lanes according to the traffic direction of the lane to be processed and the traffic direction of the candidate lanes; in the map data, a stop line of the stop line lane is generated at a lane end position corresponding to the traffic direction of the stop line lane.

As can be seen from the above, the embodiments of the present application can identify a stop line lane in which a stop line is to be generated according to a traffic direction in a traffic area to be processed in map data, and automatically generate a stop line of the stop line lane according to a lane edge of the stop line lane. Therefore, the stop line in the map data can be quickly and accurately generated based on the lane data in the map data, so that the acquisition efficiency of the map data is improved, and the cost of data acquisition is reduced.

The method described in the above embodiments will be described in further detail below.

In this embodiment, a method of the embodiment of the present application will be described in detail taking an intelligent navigation scenario as an example.

As shown in fig. 2a, a specific flow of a stop line generating method is as follows:

210. and acquiring lane data of the lanes to be processed in the traffic area to be processed from the map data.

For example, map data may be acquired, which may be made from specific image or point cloud data. Partial stop line deletions may be present in the generated map data due to data acquisition limitations, incomplete data sources, limitations of data processing algorithms, or other reasons for data update delays. In the related art, after the manual confirmation of the intersection is matched with the actual intersection scene, the missing stop line data is manually supplemented in the map data. In contrast, the stop line generation method provided by the embodiment of the application can automatically generate the missing stop line.

The map data that is generally acquired includes an element of the intersection face. The STREAME search tree can be constructed based on the longitude and latitude, and the STREAME search tree is traversed according to the longitude and latitude of the intersection surface so as to search lanes near each intersection surface in the map. And judging whether the searched lanes intersect the intersection surface or not by using a GDAL (geographic space data conversion and processing library) for each intersection surface, taking the lanes intersected or capped with the intersection surface as lanes to be processed of the intersection surface, acquiring lane data of the lanes from a database according to lane numbers of the lanes to be processed, and marking the lanes to be processed of each intersection surface as an area lanes to be processed.

220. And generating a virtual traffic line for any lane to be processed along the opposite direction of the traffic direction of the lane to be processed.

230. And determining the candidate lane according to the virtual traffic line.

240. And determining a stop line lane from the candidate lanes according to the traffic direction of the lane to be processed and the traffic direction of the candidate lanes.

The lane edge of the candidate lane is connected with the lane edge of the lane to be processed through a virtual traffic line. For example, for each intersection face in the map data, a set of lanes to be processed for each intersection face may be traversed, from which a candidate lane is determined from the lane data. And screening from the candidate lane set by the traffic direction of the lane to be processed and the traffic direction of the candidate lane to obtain stop line lanes, wherein the stop line lanes on each intersection surface can be marked as a stop line lane set PreLanes, and the lanes in the stop line lane set PreLanes are the stop line lanes.

Specifically, for each lane to be processed in the lane set to be processed, a virtual traffic line may be drawn for each lane to be processed along the opposite direction of the traffic direction (straight, left turn, right turn, turning around) of the lane to be processed, and the lane to be processed connected to the virtual traffic line of the lane to be processed is used as a candidate lane. Corresponding virtual traffic lines can be drawn one by one for the to-be-processed lane set of any intersection surface, so that the intersection surface drawing the virtual traffic lines as shown in fig. 2b is obtained, and the lines connected with different lanes in the road surface opening are the drawn virtual traffic lines. And determining the candidate lane which is not matched with the traffic direction of the corresponding virtual traffic line as a stop line lane.

The lane types of the lanes in the candidate lane set can be obtained, and the lanes to be processed, the lane types of which are shoulder lanes, are removed from the preanes. And traversing a lane set PreLanes to be processed after removing the shoulder lanes, removing candidate lanes containing stop line data of the stop line lanes, stop line data of the lanes to be processed associated with the stop line lanes, traffic signals and other data from the lane data, and taking the lane set after removing the processing as a lane set SetLanes.

250. In the map data, a stop line of the stop line lane is generated at a lane end position corresponding to the traffic direction of the stop line lane.

For example, for each stop line lane of the lane set SetLanes, a lane left line and a lane right line may be determined according to a lane marking relationship of the stop line lane, and a stop line of the stop line lane may be generated by connecting a stop position point of the lane left line and a stop position point of the lane right line. Similarly, a stop line for each stop line lane in the lane set SetLanes may be generated.

260. And determining a plurality of adjacent target lanes belonging to the same lane group from the stop line lanes according to the lane grouping information and the lane edge of the stop line lanes.

270. And merging the stop lines of the plurality of target lanes to generate merged stop lines.

For example, a plurality of target lanes adjacent to and belonging to the same lane group in the lane set SetLanes may be determined from the lane group information of the stop line lanes in the lane set SetLanes and the lane edges of the stop line lanes, and the stop lines of the plurality of target lanes may be merged. For a plurality of stop line lanes that belong to the same lane group but are not adjacent, and a plurality of stop line lanes that do not belong to the same lane group but are adjacent, the stop lines do not meet.

It should be noted that, in the embodiment of the present application, by executing steps 220 to 270 respectively for the lane set to be processed of each intersection, a stop line of each intersection may be generated, so that stop lines of all the intersections in the map data may be automatically generated. The map data after the stop line is generated can be used for intelligent navigation scenes to provide more accurate and rich road information and help the vehicle to carry out key tasks such as accurate positioning, navigation, decision making and the like.

As can be seen from the above, the embodiments of the present application can automatically generate the missing stop line in the map data based on the lane data of the intersection surface, etc., so as to solve the problem that the missing stop line is partially in the generated map data when the map data is generated by collecting specific images or point cloud data, and avoid the redundant data from being generated.

In order to better implement the method, the embodiment of the application also provides a stop line generation device, which can be integrated in an electronic device, wherein the electronic device can be a terminal, a server and other devices. The terminal can be a mobile phone, a tablet personal computer, an intelligent Bluetooth device, a notebook computer, a personal computer and other devices; the server may be a single server or a server cluster composed of a plurality of servers.

For example, in the present embodiment, a method according to the embodiment of the present application will be described in detail by taking an example in which the stop line generating device is specifically integrated in the electronic device.

For example, as shown in fig. 3, the stop line generating device may include an acquisition unit 310, a candidate lane determining unit 320, a stop line lane determining unit 330, and a generating unit 340, as follows:

first acquisition unit 310

The method is used for acquiring lane data of a lane to be processed in the traffic area to be processed from the map data, wherein the lane data comprise lane edges and traffic directions.

In some embodiments, the acquisition unit includes a first acquisition subunit, a second acquisition subunit, and a third acquisition subunit, including:

A first obtaining subunit, configured to obtain map data, where map elements in the map data are stored in a node tree;

the second acquisition subunit is used for inquiring a target node corresponding to the traffic area to be processed from the node tree;

and the third acquisition subunit is used for acquiring the lane data of the lanes to be processed in the traffic area to be processed according to the map elements corresponding to the target nodes.

(two) candidate lane determination unit 320

And the method is used for determining the candidate lane according to the lane starting position corresponding to the traffic direction of the lane to be processed aiming at any lane to be processed.

In some embodiments, the candidate lane determination unit includes a drawing subunit and a candidate lane determination subunit, including:

the drawing subunit is used for generating a virtual traffic line for any lane to be processed along the opposite direction of the traffic direction of the lane to be processed;

and the lane candidate determining subunit is used for determining a lane candidate according to the virtual traffic line, and the lane boundary of the lane candidate is connected with the lane boundary of the lane to be processed through the virtual traffic line.

In some embodiments, the drawing subunits include a first drawing subunit, a second drawing subunit, and a third drawing subunit, comprising:

The first drawing subunit is used for acquiring a lane boundary line to be processed of a lane to be processed, wherein the lane boundary line to be processed comprises a plurality of lane position points to be processed;

the second drawing subunit is used for searching a starting position point from a plurality of lane position points to be processed;

and the third drawing subunit is used for generating a virtual passing line for the lane to be processed along the opposite direction of the passing direction of the lane to be processed by taking the starting position point as a starting point.

In some embodiments, the third rendering subunit is specifically configured to:

(III) stop line lane determination unit 330

And the stop line lane is determined from the candidate lanes according to the traffic direction of the lane to be processed and the traffic direction of the candidate lanes.

In some embodiments, the stop line lane determining unit includes a first stop line lane determining subunit and a second stop line lane determining subunit, including:

The first stop line lane determining subunit is used for acquiring the traffic direction of the lane to be processed and the traffic direction of the candidate lane;

the second stop line lane determining subunit is configured to determine, for any lane to be processed, a lane candidate corresponding to the lane to be processed as a stop line lane if the traffic direction of the lane to be processed does not match the traffic direction of the lane candidate corresponding to the lane to be processed.

In some embodiments, the stop line generating device further includes a first culling unit including a type acquisition subunit and an auxiliary lane culling subunit, including:

a type acquisition subunit for acquiring the lane type of the stop line lane;

the auxiliary lane removing subunit is used for removing a first stop line lane from the stop line lanes according to the lane types, wherein the first stop line lane is a stop line lane with the lane types being the auxiliary lane.

In some embodiments, the stop line generating device further includes a second culling unit including a search subunit and a stop line lane culling subunit, including:

the searching subunit is used for searching the stop line related data in the lane data of the stop line lane, wherein the stop line related data comprises one or more of stop line data of the stop line lane, stop line data of a lane to be processed which is related to the stop line lane and traffic signal data;

The stop line lane removing subunit is used for removing a second stop line lane from the stop line lanes, wherein the second stop line lane is a stop line lane containing stop line related data in lane data.

(IV) generating unit 340

And generating a stop line of the stop line lane at a lane end position corresponding to the traffic direction of the stop line lane in the map data.

In some embodiments, the generating unit includes a first generating subunit, a second generating subunit, and a third generating subunit, including:

the first generation subunit is used for acquiring a stop lane boundary of a stop line lane aiming at any stop line lane, wherein the stop lane boundary comprises a plurality of stop lane position points;

the second generation subunit is used for searching a termination position point from a plurality of stop lane position points according to the traffic direction of the stop line lane;

and a third generation subunit for generating a stop line of the stop line lane based on the termination position point.

In some embodiments, the stop line generating apparatus further includes a merging unit including a first merging subunit, a second merging subunit, and a third merging subunit, including:

the first merging subunit is used for acquiring lane grouping information of the stop line lane;

A second merging subunit, configured to determine, from the stop line lanes, a plurality of target lanes that are adjacent and belong to the same lane group according to the lane grouping information and the lane edge of the stop line lane;

and the third merging subunit is used for merging the stop lines of the plurality of target lanes to generate merged stop lines.

In some embodiments, the third merging subunit is specifically configured to:

acquiring the end point position of a stop line of a target lane;

In the implementation, each unit may be implemented as an independent entity, or may be implemented as the same entity or several entities in any combination, and the implementation of each unit may be referred to the foregoing method embodiment, which is not described herein again.

As is clear from the above, the stop line generating device of the present embodiment includes an acquiring unit, a candidate lane determining unit, a stop line lane determining unit, and a generating unit. The system comprises an acquisition unit, a traffic control unit and a traffic control unit, wherein the acquisition unit is used for acquiring lane data of a lane to be processed in a traffic area to be processed from map data, and the lane data comprises lane edges and a traffic direction; the lane candidate determining unit is used for determining a lane candidate according to the lane starting position corresponding to the traffic direction of any lane to be processed; the stop line lane determining unit is used for determining a stop line lane from the candidate lanes according to the traffic direction of the lane to be processed and the traffic direction of the candidate lanes; and the generation unit is used for generating a stop line of the stop line lane at a lane ending position corresponding to the passing direction of the stop line lane in the map data.

Therefore, the embodiment of the application can identify the stop line lane for generating the stop line according to the traffic direction in the traffic area to be processed in the map data, and automatically generate the stop line of the stop line lane according to the lane edge of the stop line lane. Therefore, the stop line in the map data can be quickly and accurately generated based on the lane data in the map data, so that the acquisition efficiency of the map data is improved, and the cost of data acquisition is reduced.

The embodiment of the application also provides electronic equipment which can be a terminal, a server and other equipment. The terminal can be a mobile phone, a tablet computer, an intelligent Bluetooth device, a notebook computer, a personal computer and the like; the server may be a single server, a server cluster composed of a plurality of servers, or the like.

In the present embodiment, a detailed description will be given taking an example in which the electronic device of the present embodiment is a server, for example, as shown in fig. 4, which shows a schematic structural diagram of the server according to the embodiment of the present application, specifically:

The server may include one or more processor cores 'processors 410, one or more computer-readable storage media's memory 420, a power supply 430, an input module 440, and a communication module 450, among other components. Those skilled in the art will appreciate that the server architecture shown in fig. 4 is not limiting of the server and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components. Wherein:

the processor 410 is a control center of the server, connects various parts of the entire server using various interfaces and lines, performs various functions of the server and processes data by running or executing software programs and/or modules stored in the memory 420, and calling data stored in the memory 420. In some embodiments, processor 410 may include one or more processing cores; in some embodiments, processor 410 may integrate an application processor that primarily handles operating systems, user interfaces, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 410.

The memory 420 may be used to store software programs and modules, and the processor 410 may perform various functional applications and data processing by executing the software programs and modules stored in the memory 420. The memory 420 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data created according to the use of the server, etc. In addition, memory 420 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, memory 420 may also include a memory controller to provide processor 410 with access to memory 420.

The server also includes a power supply 430 that provides power to the various components, and in some embodiments, the power supply 430 may be logically connected to the processor 410 via a power management system, such that charge, discharge, and power consumption management functions are performed by the power management system. Power supply 430 may also include one or more of any of a direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.

The server may also include an input module 440, which input module 440 may be used to receive entered numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

The server may also include a communication module 450, and in some embodiments the communication module 450 may include a wireless module, through which the server may wirelessly transmit over short distances, thereby providing wireless broadband internet access to the user. For example, the communication module 450 may be used to assist a user in e-mail, browsing web pages, accessing streaming media, and the like.

Although not shown, the server may further include a display unit or the like, which is not described herein. In particular, in this embodiment, the processor 410 in the server loads executable files corresponding to the processes of one or more application programs into the memory 420 according to the following instructions, and the processor 410 executes the application programs stored in the memory 420, so as to implement various functions as follows:

obtaining lane data of a lane to be processed in a traffic area to be processed from map data, wherein the lane data comprises lane edges and a traffic direction; for any lane to be processed, determining a candidate lane according to a lane starting position corresponding to the traffic direction of the lane to be processed; determining a stop line lane from the candidate lanes according to the traffic direction of the lane to be processed and the traffic direction of the candidate lanes; in the map data, a stop line of the stop line lane is generated at a lane end position corresponding to the traffic direction of the stop line lane.

The specific implementation of each operation above may be referred to the previous embodiments, and will not be described herein.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.

To this end, embodiments of the present application provide a computer readable storage medium having stored therein a plurality of instructions capable of being loaded by a processor to perform steps in any of the stop line generation methods provided by embodiments of the present application. For example, the instructions may perform the steps of:

Wherein the storage medium may include: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like.

According to one aspect of the present application, there is provided a computer program product or computer program comprising computer programs/instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer program/instructions from the computer-readable storage medium, and the processor executes the computer program/instructions to cause the electronic device to perform the methods provided in the various alternative implementations provided in the above-described embodiments.

Because the instructions stored in the storage medium may execute the steps in any of the stop line generating methods provided in the embodiments of the present application, the beneficial effects that any of the stop line generating methods provided in the embodiments of the present application may be achieved, and detailed descriptions of the foregoing embodiments are omitted herein.

The foregoing has described in detail a method, apparatus, electronic device, medium and program product for generating a stop line according to the embodiments of the present application, and specific examples have been applied to illustrate the principles and embodiments of the present application, where the foregoing description of the embodiments is only for aiding in understanding the method and core idea of the present application; meanwhile, those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present application, and the present description should not be construed as limiting the present application in view of the above.

Claims

1. A stop line generation method, comprising:

obtaining lane data of a lane to be processed in a traffic area to be processed from map data, wherein the lane data comprises lane edges and a traffic direction;

determining a candidate lane according to a lane starting position corresponding to the traffic direction of any lane to be processed;

Determining a stop line lane from the candidate lanes according to the traffic direction of the lane to be processed and the traffic direction of the candidate lanes, including: acquiring the traffic direction of the lane to be processed and the traffic direction of the candidate lane; for any lane to be processed, if the traffic direction of the lane to be processed is not matched with the traffic direction of the candidate lane corresponding to the lane to be processed, determining the candidate lane corresponding to the lane to be processed as a stop line lane;

in the map data, a stop line of the stop line lane is generated at a lane end position corresponding to a traffic direction of the stop line lane, including: for any stop line lane, acquiring a stop lane boundary of the stop line lane, wherein the stop lane boundary comprises a plurality of stop lane position points; searching a termination position point from the plurality of stop lane position points according to the traffic direction of the stop line lane; and generating a stop line of the stop line lane based on the end position point.

2. The stop line generating method according to claim 1, wherein the determining a candidate lane for any one of the lanes to be processed according to a lane start position corresponding to a traffic direction of the lane to be processed comprises:

and determining a lane candidate according to the virtual passing line, wherein the lane boundary of the lane candidate is connected with the lane boundary of the lane to be processed through the virtual passing line.

3. The stop line generating method according to claim 2, wherein the generating a virtual traffic line for any one of the lanes to be processed in a direction opposite to a traffic direction of the lane to be processed includes:

for any lane to be processed, acquiring a lane boundary of the lane to be processed, wherein the lane boundary to be processed comprises a plurality of lane position points to be processed;

searching a starting position point from the position points of the plurality of lanes to be processed;

and generating a virtual traffic line for the lane to be processed along the opposite direction of the traffic direction of the lane to be processed by taking the starting position point as a starting point.

4. The stop line generating method according to claim 3, wherein the generating a virtual traffic line for the lane to be processed in a direction opposite to a traffic direction of the lane to be processed with the start position point as a start point includes:

Generating an initial virtual passing line for the lane to be processed along the opposite direction of the passing direction of the lane to be processed by taking the starting position point as a starting point;

and generating the virtual pass line according to the starting position point and the target position point.

5. The stop line generating method according to claim 1, characterized in that the method further comprises:

obtaining the lane type of the stop line lane;

and removing a first stop line lane from the stop line lanes according to the lane types, wherein the first stop line lane is the stop line lane with the lane type being an auxiliary lane.

6. The stop line generating method according to claim 1, characterized in that the method further comprises:

searching for stop line related data in the lane data of the stop line lane, wherein the stop line related data comprises one or more of stop line data of the stop line lane, stop line data of a lane to be processed which is related to the stop line lane and traffic signal data;

And eliminating a second stop line lane from the stop line lanes, wherein the second stop line lane is the stop line lane containing the stop line related data in the lane data.

7. The stop line generating method according to claim 1, wherein the acquiring lane data of the lane to be processed in the traffic area to be processed from the map data includes:

acquiring the map data, wherein map elements in the map data are stored in a node tree;

8. The stop line generation method according to any one of claims 1 to 7, wherein the generating of the stop line lane at the lane end position corresponding to the traffic direction of the stop line lane in the map data further includes:

acquiring lane grouping information of the stop line lane;

determining a plurality of adjacent target lanes belonging to the same lane group from the stop line lanes according to the lane grouping information and the lane edge of the stop line lanes;

9. The stop line generating method according to claim 8, wherein the merging process is performed on the stop lines of the plurality of target lanes to generate a merged stop line, comprising:

acquiring the end point position of a stop line of the target lane;

and generating the combined stop line according to the starting point position and the end point position.

10. A stop line generating apparatus, comprising:

the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring lane data of a lane to be processed in a traffic area to be processed from map data, and the lane data comprises lane edges and a traffic direction;

the lane candidate determining unit is used for determining a lane candidate according to a lane starting position corresponding to the traffic direction of any lane to be processed;

a stop line lane determining unit configured to determine a stop line lane from the candidate lanes according to a traffic direction of the lane to be processed and a traffic direction of the candidate lane, the stop line lane determining unit including a first stop line lane determining subunit and a second stop line lane determining subunit, including: the first stop line lane determining subunit is used for acquiring the traffic direction of the lane to be processed and the traffic direction of the candidate lane; the second stop line lane determining subunit is configured to determine, for any lane to be processed, the candidate lane corresponding to the lane to be processed as a stop line lane if the traffic direction of the lane to be processed is not matched with the traffic direction of the candidate lane corresponding to the lane to be processed;

A generating unit, configured to generate, in the map data, a stop line of the stop line lane at a lane end position corresponding to a traffic direction of the stop line lane, where the generating unit includes a first generating subunit, a second generating subunit, and a third generating subunit, and includes: the first generation subunit is configured to obtain, for any stop line lane, a stop lane edge of the stop line lane, where the stop lane edge includes a plurality of stop lane position points; the second generation subunit is used for searching a termination position point from the plurality of stop lane position points according to the traffic direction of the stop line lane; the third generation subunit is configured to generate a stop line of the stop line lane based on the termination location point.

11. An electronic device comprising a processor and a memory, the memory storing a plurality of instructions; the processor loads instructions from the memory to perform the steps in the stop line generation method according to any one of claims 1 to 9.

12. A computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform the steps of the stop line generating method according to any one of claims 1 to 9.