WO2022227878A1

WO2022227878A1 - Lane line labeling method and apparatus

Info

Publication number: WO2022227878A1
Application number: PCT/CN2022/080026
Authority: WO
Inventors: 刘大伟; 刘建琴; 许明霞
Original assignee: 华为技术有限公司
Priority date: 2021-04-30
Filing date: 2022-03-09
Publication date: 2022-11-03
Also published as: CN115265564A

Abstract

A lane line labeling method and apparatus. The method comprises: acquiring a drive-in point of a vehicle driving into an intersection and a drive-out point of the vehicle driving out of the intersection; determining a first lane line for moving from the drive-in point to the drive-out point; and when the first lane line intersects with an obstacle in the intersection, or the minimum distance between the first lane line and the obstacle is less than a preset obstacle avoidance distance, not labeling the first lane line, but instead selecting an area on one side from areas on both sides of the first lane line as a target obstacle avoidance area, and within the target obstacle avoidance area, selecting at least one control point, the distance between which and the obstacle is not less than the preset obstacle avoidance distance, and determining and labeling, according to the drive-in point, the at least one control point and the drive-out point, a second lane line, the minimum distance between which and the obstacle is not less than the preset obstacle avoidance distance, such that the labeling quality and labeling efficiency of lane lines are improved. Further disclosed is a second method, comprising: selecting at least two control points in an intersection; determining at least two first lane lines according to a drive-in point, a drive-out point and the at least two control points; and determining, from the at least two first lane lines, a target first lane line, the minimum distance between which and an obstacle in the intersection is not less than a preset obstacle avoidance distance. Further disclosed are a computer-readable storage medium, a computer program product, a vehicle, and an Internet of Vehicles system which include a lane line labeling method.

Description

Method and device for marking lane lines

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority of the Chinese patent application with the application number 202110484993.4 and the application title "A method and device for marking lane lines", which was submitted to the China Patent Office on April 30, 2021, the entire contents of which are incorporated into this application by reference middle.

technical field

The present application relates to the technical field of Internet of Vehicles, and in particular, to a method and device for marking lane lines.

Background technique

In the field of Internet of Vehicles, high-precision maps play a vital role in vehicle positioning, vehicle navigation, and even automatic driving of vehicles. High-precision maps are usually made in the following ways: collect the surrounding environment information of real roads, obtain a point cloud map by fusing the surrounding environment information, and mark the structured data of various traffic entities in the point cloud map to obtain High-precision map. The traffic entities may include, but are not limited to, lane lines, traffic signs, or traffic lights. The high-precision map in the field of Internet of Vehicles is mainly used to guide the passage of vehicles, and to achieve a better guidance effect, the accuracy of the high-precision map must at least reach the lane level. That is to say, how to label lane lines efficiently and accurately is very important for quickly obtaining high-quality high-precision maps so as to accurately guide the passage of vehicles.

There are two main ways to label the lane lines: one is manual labeling, which mainly relies on the human eye of the cartographer to judge the surrounding environment of the lane to be labelled in the point cloud map, and manually label the virtual curve according to the judgment result, but this labeling method is not only time-consuming. It is laborious, and it is not easy to ensure the smoothness and aesthetics of the virtual curve; the second is automatic labeling, mainly using some existing drawing software to automatically draw the curve, but the drawing software usually only considers the entry point and exit point, and does not Consider whether there are obstacles on the current road, in this case, the lane line drawn automatically by the drawing software is likely to intersect with the obstacles on the road, making the lane line unavailable. It can be seen that the existing two lane line labeling methods cannot efficiently and accurately label the lane lines, which is not conducive to improving the labeling efficiency and labeling quality of the lane lines on the map.

SUMMARY OF THE INVENTION

The present application provides a method and device for marking lane lines, which are used to improve the marking efficiency and marking quality of lane lines.

In a first aspect, the present application provides a lane marking method, which is suitable for a lane marking device, and the lane marking device may be a device, device or chip with image processing capability, and may also be a vehicle. The method includes: the lane line marking device obtains the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection, determining the first lane line moving from the entry point to the exit point, and determining the first lane line and the exit point. When the obstacles in the intersection intersect, or the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance, the first lane line is not marked on the map, but from the two sides of the first lane line. Select one of the side areas as the target obstacle avoidance area, and select at least one control point in the target obstacle avoidance area whose distance from the obstacle is not less than the preset obstacle avoidance distance. According to the entry point, at least one control point and the exit point, determine that the minimum distance to the obstacle is not less than the preset obstacle avoidance distance second lane line, and mark the second lane line on the map.

In the above design, when the first lane line to be determined cannot safely bypass the obstacles in the intersection, the second lane line that can safely bypass the obstacles in the intersection is re-determined, which helps to pass a marking The operation directly marks the second lane line with accurate obstacle avoidance ability at the intersection of the map. This method does not need to rely on manual marking or manual secondary adjustment, which can effectively improve the marking quality and marking efficiency of lane lines. Further, in the case where the first lane line does not meet the labeling requirements, a control point whose distance from the obstacle is greater than or equal to the preset obstacle avoidance distance is selected as the determination of the first lane line in one side area of the first lane line. The benchmark of the second lane line can also improve the probability of determining the second lane line that meets the obstacle avoidance distance requirement, and improve the success rate of marking the lane line.

In a possible design, the lane line to be marked can be any lane line on the straight lane, left-turn lane, or right-turn lane in the intersection, such as one of the lane edges on both sides, or the lane center line. In this case, the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance, which may include any one of the following: if the first lane line is the lane edge adjacent to the obstacle, then the first The minimum distance between the lane line and the obstacle is less than the preset obstacle avoidance distance; if the first lane line is a lane edge not adjacent to the obstacle, the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance and the preset obstacle avoidance distance. The sum of the preset lane widths; or, if the first lane line is the lane center line, the minimum distance between the first lane line and the obstacle is less than the sum of the preset obstacle avoidance distance and 1/2 times the preset lane width . The preset obstacle avoidance distance may be a real number greater than or equal to 0. The design can not only support the lane marking device to select suitable lanes as the lanes to be marked according to actual needs, but also set different decision-making conditions for different lanes. Each lane can only meet its own decision-making conditions. Only then will the second lane line be re-determined, which helps to save computing resources while taking into account the accuracy of marking the lane line.

In a possible design, the target obstacle avoidance area can satisfy at least one of the following conditions:

Condition 1, the target obstacle avoidance area is located in the obstacle avoidance area indicated by the obstacle with the function of traffic regulation indication. This condition can mark the lane line that meets the traffic regulations in the obstacle avoidance area indicated by the obstacle, effectively reducing the risk of violation of the vehicle using the map.

Condition 2: When the first lane line does not intersect with the obstacle, the target obstacle avoidance area does not contain obstacles. In this condition, the control point is better selected in the area without obstacles than in the area containing obstacles, so this condition helps to improve the efficiency of subsequent selection of control points in the target obstacle avoidance area.

Condition 3: When the first lane line intersects the obstacle, the target obstacle avoidance area includes the obstacle area with the smallest area among the two obstacle areas divided by the first lane line. This condition can quickly select the target obstacle avoidance area by comparing the area of the obstacle areas on both sides.

Condition 4: When the first lane line intersects the obstacle, the target obstacle avoidance area includes the obstacle area with the smallest distance from the first lane line among the two obstacle areas divided by the first lane line. In this condition, by taking the side area where the obstacle area with the longest distance and the smallest distance from the first lane line is located as the target obstacle avoidance area, you can rely on the positional relationship between the first lane line and the obstacle to pass a smaller area. The deformation of , obtains the second lane line, which helps to reduce the difficulty of redefining the second lane line. Also, since the second lane line is drawn in the area closest to the furthest distance from the edge of the obstacle, it is also possible to have the second lane line with a shorter length, helping to direct the vehicle to travel the shorter distance as quickly as possible. Avoid obstacles and improve the vehicle's obstacle avoidance efficiency.

In a possible design, when the first lane line intersects with the obstacle, the lane line marking device selects at least one control point in the target obstacle avoidance area whose distance from the obstacle is not less than the preset obstacle avoidance distance, Including: the lane line marking device finds the first position point farthest from the first lane line from the edge of the obstacle area included in the target obstacle avoidance area, and determines the distance to the first position point in the target obstacle avoidance area is the second position point of the preset obstacle avoidance distance, and the second position point is used as a control point. Wherein, the connecting line between the second position point and the first position point is perpendicular to the tangent line of the first lane line, or perpendicular to the line segment between the two intersection points of the first lane line and the obstacle. In this design, when the first lane line intersects with the obstacle, by using the point on the obstacle farthest from the first lane line as the obstacle critical point, it is possible to find a distance from the obstacle critical point that just meets the obstacle avoidance requirements. The critical point of the lane line, by taking the critical point of the lane line as the control point, helps to draw the critical lane line that can just achieve the ability to avoid obstacles.

In a possible design, when the first lane line does not intersect with the obstacle, the lane line marking device selects at least one control point in the target obstacle avoidance area whose distance from the obstacle is not less than the preset obstacle avoidance distance , including: the lane line marking device finds the third position point closest to the first lane line from the edge of the obstacle, and determines that the distance to the third position point in the target obstacle avoidance area is the preset obstacle avoidance distance. The fourth position point is used as a control point. Wherein, the connection line between the fourth position point and the third position point is perpendicular to the tangent line of the first lane line, or perpendicular to the tangent line of the obstacle at the third position point. In this design, when the first lane line does not intersect with the obstacle, by using the point on the obstacle closest to the first lane line as the obstacle critical point, it is possible to find a distance from the obstacle critical point that just meets the obstacle avoidance requirements. The critical point of the lane line, by taking the critical point of the lane line as the control point, helps to draw the critical lane line that can just achieve the ability to avoid obstacles.

In a possible design, after the lane line marking device determines the control points according to the above design, it can also draw control lines from the control points in a direction perpendicular to the connecting line, and select from the control lines on both sides of the control point. The at least two fifth position points are used as at least two control points. In this way, by taking the critical point of the lane line as the benchmark to obtain the safer control point outside the critical point, it is helpful to draw the obstacle avoidance lane line with a certain safety margin and improve the safety performance of the marked lane line.

In a possible design, the at least two control points may include at least one of the following: the intersection of the control line and the incoming line is used as one control point, the intersection of the control line and the outgoing line is used as another control point, Among them, the entry line is the straight line drawn from the entry point along the entry direction, and the exit line is the straight line drawn from the exit point along the opposite direction of the exit; the distance between the control line and the control point is equal to the first lane The two points of the line segment length between the two intersection points of the line and the obstacle are used as the two control points; the two points on the control line whose distance from the control point is equal to the length of the first lane line inside the obstacle are used as the control points. In this way, by uniformly selecting two control points on both sides of the control point on the control line, a relatively smooth second lane line can be drawn based on the three control points with relatively uniform distribution.

In a possible design, the lane marking device can determine the first lane line moving from the entry point to the exit point in the following manner: if the current lane is a straight lane, the lane marking device can directly connect the entry point and the exit point to obtain the first lane line; if the current lane is a turning lane line, the lane marking device can first extend from the entry point along the entry direction to obtain the entry line, and from the exit point along the exit direction Extend in the opposite direction to get the exit line, and then determine the first lane line according to the entry point, the intersection of the entry line and the exit line, and the exit point. In this design, the lane line marking device can select different lane line determination methods according to different types of lanes, which helps to draw the lane lines that meet the current lane type more precisely.

In a second aspect, the present application provides a lane marking method, which is suitable for a lane marking device, and the lane marking device may be a device, device or chip with image processing capability, and may also be a vehicle. The method includes: the lane marking device obtains the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection, and selects at least two control points in the intersection, according to the entry point, the exit point and the at least two control points. The control point is to determine at least two first lane lines, the control points used by any two of the at least two first lane lines are different, and then determine the intersection with the intersection from the at least two first lane lines The minimum distance of the obstacles in the target first lane line is not less than the preset obstacle avoidance distance, and the target first lane line is marked on the map.

In the above design, by fitting a plurality of first lane lines in the intersection in advance, the lane marking device can be improved to directly select the target first lane line that can avoid obstacles in the intersection from the plurality of first lane lines This design not only helps to improve the efficiency of lane marking, but also marks the first target lane with obstacle avoidance function on the map, which effectively improves the quality and efficiency of lane marking. accuracy.

In a possible design, the lane line to be marked can be any lane line on the straight lane, left-turn lane, or right-turn lane in the intersection, such as one of the lane edges on both sides, or the lane center line. In this case, the minimum distance between the first lane line and the obstacle is not less than the preset obstacle avoidance distance, which may include any of the following: The minimum distance between the first lane line and the obstacle is not less than the preset obstacle avoidance distance; if the first lane line is the lane edge line not adjacent to the obstacle, the minimum distance between the first lane line and the obstacle is not less than the preset obstacle avoidance distance The sum of the spacing and the preset lane width; or, if the first lane line is the lane center line, the minimum distance between the first lane line and the obstacle is not less than the preset obstacle avoidance spacing and 1/2 times the preset Sum of lane widths. The preset obstacle avoidance distance is a real number greater than or equal to 0.

In a possible design, the lane marking device selects at least two control points at the intersection, including: the lane marking device selects at least two control points in the intersection whose distance from the obstacle is greater than a preset obstacle avoidance distance . In this way, by selecting a control point at the intersection whose distance from the obstacle is greater than or equal to the preset obstacle avoidance distance as the reference for determining the first lane line, the probability of determining the first lane line that meets the obstacle avoidance distance requirement can be improved. .

In a possible design, the lane line marking device determines, from the at least two first lane lines, a target first lane line whose minimum distance to the obstacle in the intersection is not less than a preset obstacle avoidance distance, including: if If the obstacle is an obstacle with the function of traffic regulation indication, the lane line marking device selects the target first lane line from the first lane line located in the target obstacle avoidance area indicated by the obstacle, so as to satisfy the obstacle avoidance indicated by the obstacle rule. If the obstacle is an obstacle that does not have the function of traffic regulation indication, select the target first lane line from at least two first lane lines. choose. Wherein, the minimum distance between the target first lane line and the obstacle is not less than the preset obstacle avoidance distance.

In a possible design, if the device for marking lane lines determines that the at least two first lane lines do not include the target first lane line whose minimum distance from the obstacle is not less than the preset obstacle avoidance distance, it can also select the target first lane line from at least one of the first lane lines. Select the reference first lane line from the two first lane lines, select one of the areas on both sides of the reference first lane line as the target obstacle avoidance area, and select the distance from the obstacle within the target obstacle avoidance area. At least one control point less than the preset obstacle avoidance distance, according to the entry point, the at least one control point and the exit point, determine the second lane line whose minimum distance to the obstacle is not less than the preset obstacle avoidance distance, and then Mark the second lane line on the map. In this design, when the multiple first lane lines to be determined cannot safely bypass the obstacles in the intersection, the second lane line that can safely bypass the obstacles in the intersection is re-determined, which helps The second lane line with accurate obstacle avoidance ability is marked in the intersection of the map, which effectively improves the marking quality and marking efficiency of the lane line.

It should be understood that, regarding the specific implementation process of re-determining the second lane line in the second aspect, the corresponding design in the above-mentioned first aspect may be directly referred to, and details will not be repeated here.

In a third aspect, the present application provides a device for marking lane lines, comprising: an acquiring unit for acquiring the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection; Move the point to the first lane line of the exit point, where the first lane line intersects the obstacle in the intersection, or the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance; selection unit, It is used to select one of the areas on both sides of the first lane line as the target obstacle avoidance area, and select at least one control point in the target obstacle avoidance area whose distance from the obstacle is not less than the preset obstacle avoidance distance; determine The unit is also used to determine the second lane line according to the entry point, at least one control point and the exit point, and the minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance; the labeling unit is used for The second lane line is marked on the map.

In a possible design, the lane line to be marked can be any lane line on the straight lane, left-turn lane, or right-turn lane in the intersection, such as one of the lane edges on both sides, or the lane center line. In this case, the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance, which may include any one of the following: if the first lane line is the lane edge adjacent to the obstacle, then the first The minimum distance between the lane line and the obstacle is less than the preset obstacle avoidance distance; if the first lane line is a lane edge not adjacent to the obstacle, the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance and the preset obstacle avoidance distance. The sum of the preset lane widths; or, if the first lane line is the lane center line, the minimum distance between the first lane line and the obstacle is less than the sum of the preset obstacle avoidance distance and 1/2 times the preset lane width . The preset obstacle avoidance distance may be a real number greater than or equal to 0.

In a possible design, the target obstacle avoidance area may satisfy at least one of the following conditions: the target obstacle avoidance area is located in the obstacle avoidance area indicated by the obstacle with the traffic instruction function; In the case of no intersection, the target obstacle avoidance area does not contain obstacles; when the first lane line intersects the obstacle, the target obstacle avoidance area includes the area of the two obstacle areas divided by the first lane line The smallest obstacle area; or, in the case where the first lane line intersects an obstacle, the target obstacle avoidance area contains the smallest distance from the first lane line among the two obstacle areas divided by the first lane line obstacle area.

In a possible design, when the first lane line intersects the obstacle, the selection unit may find the first position point farthest from the first lane line from the edge of the obstacle area included in the target obstacle avoidance area , and determine a second position point in the target obstacle avoidance area whose distance from the first position point is the preset obstacle avoidance distance, and use the second position point as a control point. Wherein, the connecting line between the second position point and the first position point is perpendicular to the tangent line of the first lane line, or perpendicular to the line segment between the two intersection points of the first lane line and the obstacle.

In a possible design, when the first lane line does not intersect with the obstacle, the selection unit can find the third position point closest to the first lane line from the edge of the obstacle, and locate it within the target obstacle avoidance area A fourth position point whose distance from the third position point is a preset obstacle avoidance distance is determined, and the fourth position point is used as a control point. Wherein, the connection line between the fourth position point and the third position point is perpendicular to the tangent line of the first lane line, or perpendicular to the tangent line of the obstacle at the third position point.

In a possible design, after the selection unit determines the control points according to the above design, it can also draw control lines from the control points in a direction perpendicular to the connection line, and select at least two Two fifth position points, at least two fifth position points are used as at least two control points.

In a possible design, the at least two control points may include at least one of the following: the intersection of the control line and the incoming line is used as one control point, the intersection of the control line and the outgoing line is used as another control point, Among them, the entry line is the straight line drawn from the entry point along the entry direction, and the exit line is the straight line drawn from the exit point along the opposite direction of the exit; the distance between the control line and the control point is equal to the first lane The two points of the line segment length between the two intersections of the line and the obstacle are regarded as two control points; or, the two points on the control line whose distance from the control point is equal to the length of the first lane line inside the obstacle are regarded as two control points. a control point.

In a possible design, the determination unit may determine the first lane line moving from the entry point to the exit point by: if the current lane is a straight lane, the determination unit may directly connect the entry point and the exit point Obtain the first lane line; if the current lane is a turning lane line, the determination unit can extend from the entry point along the entry direction to obtain the entry line, and extend from the exit point along the opposite direction of the exit direction to obtain the exit The first lane line is determined according to the entry point, the intersection of the entry line and the exit line, and the exit point.

In a fourth aspect, the present application provides a device for marking lane lines, comprising: an acquisition unit for acquiring the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection; and a selection unit for selecting from the intersection at least two control points; a determining unit, configured to determine at least two first lane lines according to the entry point, the exit point and the at least two control points, and determine from the at least two first lane lines the intersection with the intersection in the intersection. The target first lane line with the minimum distance of the obstacle not less than the preset obstacle avoidance distance; wherein, the control points used by any two of the at least two first lane lines are different; the labeling unit is used for Mark the target first lane line on the map.

In a possible design, the lane line to be marked can be any lane line on the straight lane, left-turn lane, or right-turn lane in the intersection, such as one of the lane edges on both sides, or the lane center line. In this case, the minimum distance between the first lane line and the obstacle is not less than the preset obstacle avoidance distance, which may include any of the following: The minimum distance between the first lane line and the obstacle is not less than the preset obstacle avoidance distance; if the first lane line is the lane edge line not adjacent to the obstacle, the minimum distance between the first lane line and the obstacle is not less than the preset obstacle avoidance distance The sum of the spacing and the preset lane width; or, if the first lane line is the lane center line, the minimum distance between the first lane line and the obstacle is not less than the preset obstacle avoidance spacing and 1/2 times the preset Sum of lane widths. The preset obstacle avoidance distance may be a real number greater than or equal to 0.

In a possible design, the selection unit may select at least two control points in the intersection whose distance from the obstacle is greater than the preset obstacle avoidance distance.

In a possible design, when the obstacle is an obstacle with a traffic regulation indication function, the determining unit may select the target first lane line from the first lane lines located in the target obstacle avoidance area indicated by the obstacle. Wherein, the minimum distance between the target first lane line and the obstacle is not less than the preset obstacle avoidance distance.

In a possible design, when the obstacle is an obstacle without a traffic regulation indication function, the determining unit may select the target first lane line from the at least two first lane lines. Wherein, the minimum distance between the target first lane line and the obstacle is not less than the preset obstacle avoidance distance.

In a possible design, when the at least two first lane lines do not include a target first lane line whose minimum distance to the obstacle is not less than the preset obstacle avoidance distance, the selection unit may also select from the at least two Select the reference first lane line from the first lane line, select one of the areas on both sides of the reference first lane line as the target obstacle avoidance area, and select the distance to the obstacle in the target obstacle avoidance area not less than the preset distance At least one control point of the obstacle avoidance distance, the determining unit can also determine the second lane line according to the entry point, the at least one control point and the exit point, and the minimum distance between the second lane line and the obstacle is not less than the preset avoidance point. The distance of the obstacle, the labeling unit can also mark the second lane line on the map.

It should be understood that, regarding the specific implementation process of re-determining the second lane line in the fourth aspect, the corresponding design in the above-mentioned first aspect may be directly referred to, and details will not be repeated here.

In a fifth aspect, the present application provides a lane marking device, comprising a processor, a transceiver and a memory, the processor is connected to the memory, the memory stores a computer program, and when the computer program stored in the memory is executed by the processor, the lane line The labeling device executes: obtains the entry point of the vehicle entering the intersection and the exit point of the vehicle exiting the intersection, determines the first lane line moving from the entry point to the exit point, and the obstacles in the first lane line and the intersection When the object intersects, or the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance, the first lane line is not marked on the map, but is selected from the areas on both sides of the first lane line. One side area is used as the target obstacle avoidance area, and within the target obstacle avoidance area, at least one control point whose distance from the obstacle is not less than the preset obstacle avoidance distance is selected. According to the entry point, the at least one control point and the exit point, It is determined that the minimum distance to the obstacle is not less than the preset obstacle avoidance distance second lane line, and the second lane line is marked on the map.

In a possible design, when the computer program stored in the memory is executed by the processor, the device for marking lane lines is made to specifically execute: when the first lane line intersects the obstacle, select the obstacle from the obstacle contained in the target obstacle avoidance area. Find the first position point farthest from the first lane line on the edge of the area, and determine the second position point in the target obstacle avoidance area whose distance from the first position point is the preset obstacle avoidance distance. The location point acts as a control point. Wherein, the connecting line between the second position point and the first position point is perpendicular to the tangent line of the first lane line, or perpendicular to the line segment between the two intersection points of the first lane line and the obstacle.

In a possible design, when the computer program stored in the memory is executed by the processor, the lane line marking device is specifically executed: when the first lane line does not intersect with the obstacle, find the distance from the edge of the obstacle to the The third position point closest to a lane line, and a fourth position point whose distance from the third position point is the preset obstacle avoidance distance is determined in the target obstacle avoidance area, and the fourth position point is used as a control point. Wherein, the connection line between the fourth position point and the third position point is perpendicular to the tangent line of the first lane line, or perpendicular to the tangent line of the obstacle at the third position point.

In a possible design, when the computer program stored in the memory is executed by the processor, after the lane marking device determines the control point according to the above design, it also executes: drawing from the control point in a direction perpendicular to the connecting line A control line is selected, and at least two fifth position points respectively located on both sides of the control point are selected from the control line, and the at least two fifth position points are used as the at least two control points.

In a possible design, the at least two control points may include at least one of the following: the intersection of the control line and the incoming line is used as one control point, the intersection of the control line and the outgoing line is used as another control point, Among them, the entry line is the straight line drawn from the entry point along the entry direction, and the exit line is the straight line drawn from the exit point along the opposite direction of the exit; the distance between the control line and the control point is equal to the first lane The two points of the line segment length between the two intersection points of the line and the obstacle are used as the two control points; the two points on the control line whose distance from the control point is equal to the length of the first lane line inside the obstacle are used as the control points.

In a possible design, when the computer program stored in the memory is executed by the processor, the device for marking lane lines determines the first lane line moving from the entry point to the exit point in the following manner: if the current lane is straight If the current lane is a turning lane, first extend the entry point along the entry direction to obtain the entry line, and extend along the entry direction from the exit point to obtain the first lane line. The exit line is extended in the opposite direction of the exit direction, and then the first lane line is determined according to the entry point, the intersection of the entry line and the exit line, and the exit point.

In a sixth aspect, the present application provides a lane marking device, comprising a processor, a transceiver and a memory, the processor is connected to the memory, the memory stores a computer program, and when the computer program stored in the memory is executed by the processor, the lane line The labeling device executes: obtaining the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection, selecting at least two control points in the intersection, and determining the entry point, exit point and at least two control points according to the entry point, exit point and at least two control points. At least two first lane lines, any two of the at least two first lane lines use different control points, and then determine from the at least two first lane lines with obstacles in the intersection The minimum distance of the target first lane line is not less than the preset obstacle avoidance distance, and the target first lane line is marked on the map.

In a possible design, when the computer program stored in the memory is executed by the processor, the lane marking device is made to specifically execute: selecting at least two controls at the intersection whose distance from the obstacle is greater than the preset obstacle avoidance distance point.

In a possible design, when the computer program stored in the memory is executed by the processor, the device for marking lane lines is specifically executed: if the obstacle is an obstacle with the function of traffic regulation indication, then the target located at the target indicated by the obstacle will be executed. The target first lane line is selected from the first lane lines in the obstacle avoidance area; if the obstacle is an obstacle without the function of traffic regulation indication, the target first lane line is selected from at least two first lane lines. Wherein, the minimum distance between the target first lane line and the obstacle is not less than the preset obstacle avoidance distance.

In a possible design, when the computer program stored in the memory is executed by the processor, the device for marking lane lines can also be executed: if it is determined that the minimum distance from the obstacle not included in the at least two first lane lines is not less than If the target first lane line of the preset obstacle avoidance distance is selected, the reference first lane line is selected from at least two first lane lines, and one of the areas on both sides of the reference first lane line is selected as the target obstacle avoidance In the target obstacle avoidance area, select at least one control point whose distance from the obstacle is not less than the preset obstacle avoidance distance, and determine the minimum distance from the obstacle according to the entry point, at least one control point and exit point. The second lane line whose distance is not less than the preset obstacle avoidance distance, and then the second lane line is marked on the map.

It should be understood that, regarding the specific implementation process of re-determining the second lane line in the sixth aspect, the corresponding design in the above-mentioned first aspect may be directly referred to, and details will not be repeated here.

In a seventh aspect, the present application provides a lane marking device, comprising a processor and a communication interface, where the communication interface is used to receive signals from other communication devices other than the lane marking device and transmit to the processor or transfer signals from the processor. The signal is sent to other communication devices other than the lane marking device; the processor is used to implement the method according to any one of the designs of the first aspect above through a logic circuit or executing code instructions.

In an eighth aspect, the present application provides a lane marking device, comprising a processor and a communication interface, wherein the communication interface is used to receive signals from other communication devices other than the lane marking device and transmit to the processor or transfer signals from the processor. The signal is sent to other communication devices other than the lane marking device; the processor is used to implement the method according to any one of the designs of the second aspect above through a logic circuit or executing code instructions.

In a ninth aspect, the present application provides a device for marking lane lines, comprising a processor, the processor is connected to a memory, the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so that the device for marking lane lines performs as follows: The method described in any one of the designs of the first aspect above.

In a tenth aspect, the present application provides a device for marking lane lines, comprising a processor, the processor is connected to a memory, the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so that the device for marking lane lines performs the following: The method described in any one of the above-mentioned second aspects.

In an eleventh aspect, the present application provides a lane marking device, comprising a processor and a memory, the memory stores computer program instructions, and the processor executes the computer program instructions to implement the method described in any one of the designs of the first aspect above.

In a twelfth aspect, the present application provides a lane marking device, comprising a processor and a memory, the memory stores computer program instructions, and the processor executes the computer program instructions to implement the method described in any one of the designs of the second aspect above.

According to a thirteenth aspect, the present application provides a vehicle. After the vehicle collects an image of the environment, a point cloud map is constructed, and lane lines are marked on the point cloud map according to the method described in any one of the first aspect or the second aspect above. .

In a fourteenth aspect, the present application provides an Internet of Vehicles system, including a vehicle and a mapping device, the vehicle collects an environmental image and sends it to the mapping device, and the mapping device uses the environmental image to construct a point cloud map, and according to the above-mentioned first aspect or second The method of any one of the aspects annotates lane lines on a point cloud map.

In a fifteenth aspect, the present application provides a chip, which may include a processor and an interface, where the processor is configured to read instructions through the interface, so as to execute the method described in any one of the designs of the first aspect above, or execute the method described in the first aspect. The method described in any one of the above-mentioned second aspects.

In a sixteenth aspect, the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed, the method according to any one of the designs of the first aspect above is implemented. , or implement the method described in any one of the designs of the second aspect above.

In a seventeenth aspect, the present application provides a computer program product that, when the computer program product runs on a processor, implements the method described in any one of the designs in the above first aspect, or implements the above second aspect The method described in any of the designs.

For the beneficial effects of the designs in the above-mentioned second aspect to the seventeenth aspect, please refer to the technical effects that can be achieved by the corresponding designs in the above-mentioned first aspect, which will not be repeated here.

Description of drawings

FIG. 1 exemplarily shows a schematic diagram of a possible system architecture to which the embodiments of the present application are applicable;

FIG. 2 exemplarily shows a schematic flowchart of a lane marking method provided in Embodiment 1 of the present application;

FIG. 3 exemplarily shows a schematic diagram of an intersection situation of an entry point and an exit point provided by an embodiment of the present application;

FIG. 4 exemplarily shows a schematic flowchart of a lane marking method provided in Embodiment 2 of the present application;

FIG. 5 exemplarily shows a schematic flowchart of a drawing of a left-turn lane line provided by an embodiment of the present application;

FIG. 6 exemplarily shows a schematic flowchart of a lane marking method provided in Embodiment 3 of the present application;

FIG. 7 exemplarily shows a schematic flowchart of a drawing of a left-turn lane line provided by an embodiment of the present application;

FIG. 8 exemplarily shows a schematic flowchart of marking a turning lane line in an intersection provided by an embodiment of the present application;

FIG. 9 exemplarily shows another schematic flowchart of marking a turning lane line in an intersection provided by an embodiment of the present application;

FIG. 10 exemplarily shows a schematic flowchart of marking a straight lane line at an intersection provided by an embodiment of the present application;

FIG. 11 exemplarily shows another schematic flowchart of marking a straight lane line at an intersection provided by an embodiment of the present application;

FIG. 12 exemplarily shows a schematic structural diagram of a lane marking device provided by an embodiment of the present application;

FIG. 13 exemplarily shows a schematic structural diagram of another lane marking device provided by an embodiment of the present application.

Detailed ways

It should be noted that the lane marking scheme in this embodiment of the present application can be applied to the Internet of Vehicles, such as vehicle-to-everything (V2X), long term evolution-vehicle (LTE-V), Vehicle-vehicle (vehicle-vehicle, V2V), etc. For example, it can be applied to a vehicle with a lane marking function, or other devices in a vehicle with a lane marking function. The other devices include but are not limited to: on-board terminals, on-board controllers, on-board modules, on-board modules, on-board components, on-board chips, on-board units, on-board radars or on-board cameras and other sensors. , vehicle-mounted modules, vehicle-mounted modules, vehicle-mounted components, vehicle-mounted chips, vehicle-mounted units, vehicle-mounted radars or cameras, and implement the lane marking method provided in this application. Of course, the lane marking solution in the embodiment of the present application can also be used in other intelligent terminals with lane marking function other than vehicles, or set in other intelligent terminals with lane marking function other than vehicles, Or set in a component of the smart terminal. The intelligent terminal may be other terminal equipment such as intelligent transportation equipment, smart home equipment, and robots. For example, it includes, but is not limited to, a smart terminal or other sensors such as a controller, a chip, a radar or a camera, and other components in the smart terminal.

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. It should be understood that the embodiments described below are only a part of the embodiments of the present application, but not all of the embodiments. Moreover, in the following description, the drawing device may also be replaced by other devices having the function of marking lane lines, or components or chips in other devices, which are not specifically limited in this embodiment of the present application.

FIG. 1 is a schematic diagram of a possible system architecture to which the embodiment of the application is applied. The system architecture shown in FIG. 1 includes a collection vehicle 110 and a drawing device 120 . The collection vehicle 110 refers to a vehicle with an image collection function, and the image collection function can be realized by a sensor component such as a vehicle-mounted camera or a vehicle-mounted radar set on the vehicle. The drawing device 120 may refer to an apparatus, device or chip with image processing functions, such as a physical device such as a host or a processor, a virtual device such as a virtual machine or a container, and a chip or an integrated circuit. Of course, it can also be a vehicle, for example, the acquisition vehicle 110 autonomously completes the entire process of image acquisition and map making. In the Internet of Vehicles, the mapping device 120 can usually be a server of the Internet of Vehicles, also known as a cloud server, cloud, cloud, cloud server or cloud controller, etc. The Internet of Vehicles server can be a single server, or can be composed of multiple servers The server cluster is not limited.

It should be understood that the embodiments of the present application do not limit the number of the collection vehicles 110 and the number of the drawing devices 120 in the system architecture. Normally, one mapping device 120 can be connected to multiple collection vehicles 110 at the same time (for example, as shown in FIG. 1 , it can be connected to three collection vehicles 110 at the same time), so that the mapping device 120 can utilize different loop data collected by multiple collection vehicles 110 in parallel. Efficiently create global high-precision maps. In addition, in addition to the acquisition vehicle 110 and the mapping device 120, the system architecture to which the embodiments of the present application are applicable may also include other devices, such as core network devices, wireless relay devices, and wireless backhaul devices, etc., which is implemented in this application. Examples are not limited. In addition, the drawing device 120 in the embodiment of the present application may integrate all functions on an independent physical device, and may also deploy different functions on a plurality of independent physical devices, which is not limited by the embodiment of the present application. .

In implementation, the mapping device 120 may jointly collect the vehicle 110 to make a high-precision map for guiding the passing of the vehicle. In the implementation, the surveying and mapping personnel first drive or remotely control the collection vehicle 110 to drive along various loops in the city, and the collection vehicle 110 calls the vehicle-mounted camera to capture the surrounding environment during driving to obtain camera data, and calls the lidar to perceive the surrounding environment to obtain lidar. data, the camera data and the lidar data are reported to the mapping device 120 together. The mapping device 120 projects the camera data onto the lidar data, uses the lidar data to refine to remove outliers in the camera data due to meteorological information such as light, and then uses a three-dimensional modeling algorithm to combine the processed camera data to construct a point cloud Map, and then mark the structured information of traffic entities such as lanes, traffic signs, traffic lights, and virtual lane lines on the point cloud map to obtain a high-precision map. The virtual lane line marked on the point cloud map may include one or both of the two edge lines of the lane, or may include a line between and parallel to the two edge lines of the lane, such as the centerline. By marking the virtual lane lines on the point cloud map, the vehicles using the high-precision map can drive in the center of the lane as much as possible, avoid touching the road boundary or lane boundary, and try to maintain a safe driving distance.

In an automatic marking scheme of lane lines, the drawing device 120 first calls the drawing software to automatically mark the lane lines according to the entry point and exit point on the point cloud map, and then displays it to the adjustment personnel for inspection. When the lane line and the obstacle intersect, artificially adjust the lane line to not intersect. It can be seen that although this automatic labeling scheme can label accurate lane lines, at least two steps of drawing software labeling and manual adjustment need to be performed before labeling, which is not conducive to improving the efficiency of lane line labeling. That is to say, this automatic labeling scheme cannot take into account the labeling efficiency and labeling quality of lane lines at the same time.

The lane line marking method in the embodiment of the present application is used to automatically mark the lane line that can directly avoid the obstacles in the intersection in the intersection of the point cloud map, without manual participation, so as to take into account the marking efficiency of the lane line and the Label quality. The present application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific operation methods in the method embodiments may also be applied to the apparatus embodiments or the system embodiments. It should be noted that, in the description of this application, "at least one" refers to one or more, wherein, a plurality refers to two or more. In view of this, in the embodiments of the present application, "a plurality" may also be understood as "at least two". "And/or", which describes the association relationship of the associated objects, means that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone. In addition, the character "/", unless otherwise specified, generally indicates that the related objects are an "or" relationship.

It should be understood that, in the description of the present application, words such as "first" and "second" are only used for the purpose of distinguishing and describing, and cannot be construed as indicating or implying relative importance. For example, the "first lane line" is the lane line to be determined, and the "second lane line" is the re-determined lane line when the distance between the first lane line and the obstacle does not meet the preset obstacle avoidance distance , these two lane lines are only two lane lines determined successively in the process of marking the lane lines, and cannot be understood as the difference in the priority or importance of the two lane lines.

In addition, it needs to be understood that in the following description, only "annotation" is actually drawn on the point cloud map, while "connection", "fitting", "drawing", "extending" or "reversely extending" ", etc. are not actually drawn, but just preprocessing steps for the final "labeling". Moreover, in the following description, "fitting" refers to connecting a series of points on the plane with a smooth curve, and commonly used fitting methods include but are not limited to: least squares curve fitting method, polynomial curve fitting method , interpolation curve fitting method, Bezier curve fitting method or spline curve fitting method, etc.

[Example 1]

FIG. 2 exemplarily shows a schematic flowchart of a lane marking method provided in Embodiment 1 of the present application, and the method is applicable to a drawing device, such as the drawing device 120 shown in FIG. 1 . As shown in Figure 2, the process includes the following steps:

Step 201, the mapping device obtains the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection.

In the embodiment of the present application, the entry point and the exit point may be specific to the intersection. For example, FIG. 3 exemplarily shows several possible situations of the entry point and the exit point provided by the embodiment of the present application. : As shown in (A) in Figure 3, the current intersection is a cross-type intersection, the entry point I can be the entry point where the collection vehicle enters the cross-type intersection, and the exit point can be the point where the collection vehicle leaves the cross-type intersection. The exit point, for example, can go straight to the exit point O ₁ , or it can be the left-turn exit point O ₂ , or it can be the right-turn exit point O ₃ ; as shown in (B) in Figure 3, the current intersection is a Y-shaped intersection. The entry point can be the entry point where the collected vehicle enters the Y-shaped intersection, for example, it can be the entry point I ₁ on the left side branch of the Y shape, or it can be the entry point I ₂ on the right side branch of the Y shape. The exit point O may be the exit point at which the collection vehicle drives out of the Y-shaped intersection; or, as shown in (C) in FIG. 3 , the current intersection is an L-shaped intersection, and the entry point I may be the collection vehicle entering the L-shaped intersection. The entry point of the junction, the exit point O can be the exit point of the collected vehicle exiting the L-shaped junction; or, as shown in (D) in Figure 3, the current junction is a T-shaped junction, and the entry point I can be the entry point where the vehicle enters the T-shaped intersection, and the exit point can be the exit point where the vehicle drives out of the T-shaped intersection, for example, it can be the straight exit point O ₁ , or the exit point of turning right O ₃ ; Or, as shown in (E) in FIG. 3 , the current intersection is a Z-shaped intersection, the entry point I can be the entry point of the collection vehicle entering the Z-shaped intersection, and the exit point O can be collected The vehicle exits the exit point of the Z-shaped intersection; or, as shown in (F) in Figure 3, the current intersection is a 180° sharp turn intersection, and the entry point I can be the collection vehicle entering the 180° sharp turn intersection. The entry point of , and the exit point O can be the exit point of the collecting vehicle exiting the 180° sharp turn intersection. It should be understood that there are many possible situations of the entry point and the exit point in different intersection scenarios, which will not be listed here.

It should be understood that although the entry point and the exit point in the embodiments of this application are for intersections, the lane marking scheme shown in this application can also be applied to non-intersections, for example, can also be applied to a certain segment Lane, which is not specifically limited in this application.

Step 202, the mapping device determines the first lane line moving from the entry point to the exit point.

In the above step 202, the first lane line may correspond to one of the lane edges on both sides, or may correspond to any one of the lane lines in the area formed by the lane edge lines on both sides, such as the lane center line. In implementation, the mapping device may determine one or more first lane lines according to the entry point and the exit point, and each of the one or more first lane lines may be determined in the following manner:

Method 1: When the exit direction coincides with the entry direction, the current lane may be the straight lane at the intersection as shown in (A) in Figure 3 or (D) in Figure 3, and the mapping device can directly connect the entry point and Exit point to obtain the first lane line, the first lane line at this time is a straight lane line.

Method 2: When the outgoing direction is parallel to the incoming direction but not coincident, the current lane may be a right turn sharp turn lane as shown in (E) in Figure 3, or a left turn as shown in (F) in Figure 3 For sharp turning lanes, the drawing equipment can directly connect the entry point and the exit point through a straight line or a curve to obtain the first lane line, and the first lane line at this time is a straight lane line or a curved lane line. Illustratively, considering that connecting the entry point and the exit point in a straight line may make the first lane line intersect the lane boundary, rendering the first lane line unavailable, it is preferable to connect the entry point and the exit point by a curve located inside the lane. Exit point to reduce the probability that the first lane line intersects the lane boundary.

Mode 3, when the exit direction is not parallel to the entry direction, the current lane may be as shown in Figure 3 (A), Figure 3 (B), or Figure 3 (C) or Figure 3 (D) Indicated left-turn lane or right-turn lane, the vehicle turns left or right in the current lane. Taking the left-turn scene at an intersection as shown in (A) in FIG. 3 as an example, the drawing device can first extend from the entry point I along the entry direction to obtain a virtual entry line (L ₁ ), and from the exit point O ₂ Extend along the opposite direction of the exit direction to obtain the virtual exit line (L ₂ ), determine the intersection (P) of the virtual entry line L ₁ and the virtual exit line L ₂ , and then according to the entry point I, the intersection point P and the exit point Out of point O ₂ , the first lane line is obtained by fitting. Wherein, the fitting method includes but is not limited to: randomly drawing a straight line or curve in the area formed by the entry point I, the intersection point P and the exit point O ₂ ; drawing according to the entry point I, the intersection point P and the exit point O ₂ Second-order Bezier curve or second-order spline curve; randomly select W control points in the area formed by the entry point I, the intersection point P and the exit point O ₂ , according to the entry point I, W control points and Drive out point O ₂ to draw a Bezier curve of order W+1 or a spline curve of order W+1, where W is a positive integer. Preferably, the W control points may be selected as far as possible outside the obstacle, so as to increase the probability that the first lane line does not intersect the obstacle.

It should be noted that the above content is only an example to introduce several ways of determining the first lane line. Any one or more first lanes that can be moved from the entry point to the exit point can be determined according to the entry point and the exit point. The ways of lane lines are all within the protection scope of this application, and this application will not list them one by one.

Step 203: The mapping device determines whether the minimum distance between the first lane line and the obstacle in the intersection is greater than or equal to the preset obstacle avoidance distance.

In the above step 203, the mapping device may calculate the minimum distance between each of the determined one or more first lane lines and the obstacle, when there is at least one of the one or more first lane lines When the minimum distance between the first lane line and the obstacle is greater than or equal to the preset obstacle avoidance distance, it means that there is a target first lane line that can safely avoid the obstacle in one or more first lane lines, so the mapping equipment can Mark the target first lane line on the map in the following manner in step 206, when the distance between all the first lane lines in one or more first lane lines and the obstacle is not greater than or equal to the preset obstacle avoidance distance , it means that one or more of the first lane lines cannot safely avoid obstacles, so the mapping device can re-determine the second lane lines that can safely avoid obstacles according to the following steps 204 to 205 .

In the embodiment of the present application, the minimum distance between a first lane line and an obstacle is greater than or equal to the preset obstacle avoidance distance, and may include any one of the following: when the first lane line is a lane close to the obstacle When the edge (also called the critical edge), the minimum distance between the first lane line and the obstacle is greater than or equal to the preset minimum obstacle avoidance distance; when the first lane line is the lane edge on the side away from the obstacle, the first lane The minimum distance between the line and the obstacle is greater than or equal to the sum of the preset minimum obstacle avoidance distance and the preset lane width; when the first lane line is the lane centerline, the minimum distance between the first lane line and the obstacle is greater than or equal to The sum of the preset minimum obstacle avoidance distance and 1/2 times the preset lane width. Wherein, the preset minimum obstacle avoidance distance is used to indicate the minimum distance between the vehicle and the obstacle during driving, and can be set to a value greater than or equal to 0. When the preset minimum obstacle avoidance distance is 0, that is, the map requires that the driving area does not intersect with obstacles. When the preset minimum obstacle avoidance distance is greater than 0, that is, the map not only requires that the driving area and obstacles do not intersect, but also requires that the critical edge of the driving area and obstacles are separated by a certain safe distance.

Corresponding to the above content, the minimum distance between a first lane line and an obstacle is not greater than or equal to the preset obstacle avoidance distance, which may include any of the following: In the case where the preset minimum obstacle avoidance distance is 0 The first lane line intersects the obstacle; or when the preset obstacle avoidance distance is greater than 0, the first lane line intersects the obstacle, or the first lane line does not intersect the obstacle but the first lane line and The minimum distance of obstacles is less than the preset obstacle avoidance distance.

For example, continue to refer to (A) in Figure 3, assuming that the preset minimum obstacle avoidance distance is 30 cm, and the preset lane width is 750 cm, in the case of avoiding the left side of the obstacle in the intersection : The right lane edge of the left-turn lane is a critical edge, and the minimum distance between the right lane edge and the obstacle should be greater than or equal to 30 cm. If the distance is less than 30 cm, you need to re-determine the second right lane edge; the minimum distance between the left lane edge and the obstacle should be greater than or equal to 780 cm (ie 30 cm + 750 cm), if the first left lane to be determined If the sideline intersects with the obstacle, or the distance from the obstacle is less than 780cm, the sideline of the second left lane needs to be re-determined; the minimum distance between the center lane line and the obstacle should be greater than or equal to 405cm (ie 30cm+750/2 cm), if the first center lane line to be determined intersects with the obstacle, or the distance from the obstacle is less than 405 cm, the second center lane line needs to be re-determined. In the case of the right side avoidance of the obstacle in the intersection: the left lane edge of the left turn lane is the critical edge, that is, the minimum distance between the left lane edge and the obstacle should be greater than or equal to 30 cm. If the left lane edge intersects the obstacle, or the distance to the obstacle is less than 30 cm, the second left lane edge needs to be re-determined; the minimum distance between the right lane edge and the obstacle should be greater than or equal to 780 cm (that is, 30 cm). +750 cm), if the first right lane edge to be determined intersects the obstacle, or the distance to the obstacle is less than 780 cm, the second right lane edge needs to be re-determined; the minimum distance between the center lane line and the obstacle Should be greater than or equal to 405 cm (ie 30 cm + 750/2 cm), if the first center lane line to be determined intersects with the obstacle, or the distance from the obstacle is less than 405 cm, the second center lane line needs to be re-determined .

Step 204, the drawing device selects one of the areas on both sides of the first lane line as the target obstacle avoidance area, and selects at least one control in the target obstacle avoidance area whose distance from the obstacle is not less than the preset obstacle avoidance distance. point, the second lane line is determined according to the entry point, at least one control point and the exit point, and the minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance.

In the above step 204, the target obstacle avoidance area may be randomly selected from the areas on both sides of the first lane line, or may be the side farther away from the obstacle in the areas on both sides of the first lane line, so as to be able to avoid obstacles in the first lane The side to which the line is deviated can quickly determine the second lane line again. Of course, it can also be indicated by an obstacle, which is not limited in detail. By selecting the point at the intersection with the distance from the obstacle greater than the preset obstacle avoidance distance as the control point, it helps to improve the success probability of determining the second lane line that meets the obstacle avoidance requirements at one time, and reduces the need to re-determine the second lane line. number of times. For the specific implementation process of determining the second lane line, please refer to the third embodiment below, which will not be described in detail here.

It should be understood that selecting a control point in the intersection to redefine the second lane line is only an optional implementation. In another optional embodiment, the mapping device may further offset the first lane line toward a certain side area of the first lane line, until the minimum distance between the offset first lane line and the obstacle is not less than a predetermined distance. When the obstacle avoidance distance is set, the first lane line after the offset is used as the second lane line. Wherein, offsetting the first lane line may refer to offsetting the entire first lane line between the entry point and the exit point, or it may refer to only offsetting the intersecting or distance less than the obstacle on the first lane line The part of the first lane line of the preset obstacle avoidance distance is not specifically limited.

Step 205, the mapping device marks the second lane line on the map.

Exemplarily, after determining the second lane line, the mapping device may further determine other lane edges or lane center lines other than the second lane line according to the preset lane width, and map the second lane line, the other lane edges and the lane to the lane line. Centerlines are marked on the map. For example, continuing to refer to (A) in FIG. 3 , assuming that the second lane line is the center line of the lane, after determining the second lane line, the drawing device can also move the second lane line to the left of the second lane line. Side shift 1/2 times the preset lane width (with some adjustments) to get the left lane edge, and shift the second lane line to the right of the second lane line 1/2 times the preset lane Width (and make some adjustments) to get the right lane edge, label the second lane edge, the left lane edge and the right lane edge on the map. Alternatively, in the case where the second lane line is obtained by re-fitting according to one or more control points, the drawing device may also shift one or more control points to the left by 1/2 times the preset lane width to obtain the left One or more control points corresponding to the side lane edge, the left lane edge is obtained by fitting the entry point, one or more control points and exit points corresponding to the left lane line, and the one or more control points are fitted to the left lane edge. One or more control points corresponding to the edge of the right lane are determined by shifting the preset lane width by 1/2 times to the right. Combined to get the right lane edge, mark the first lane edge, left lane edge and right lane edge on the map.

Step 206, the mapping device marks the first lane line on the map.

In the above step 206, when the minimum distance between at least two of the first lane lines and the obstacle is greater than or equal to the preset obstacle avoidance distance among the one or more first lane lines determined by the mapping device, the mapping device One of the at least two first lane lines can be selected randomly or according to certain rules as the target first lane line. The first lane line, the other lane edges and the lane center line are marked on the map together. For the specific implementation process of selecting the target first lane line, please refer to the second embodiment below, which will not be introduced here.

In the above-mentioned first embodiment, by re-determining the second lane line that can safely avoid the obstacle when the first lane line to be determined cannot safely avoid the obstacle, it is helpful to directly mark on the map with accurate information. The second lane line of the obstacle avoidance ability does not need to rely on manual labeling, nor does it require manual secondary adjustment, which can effectively improve the labeling quality and labeling efficiency of the lane line. Further, in the case where the first lane line does not meet the labeling requirements, a control point whose distance from the obstacle is greater than or equal to the preset obstacle avoidance distance is selected as the determination of the first lane line in one side area of the first lane line. The benchmark of the second lane line can also improve the probability of determining the second lane line that meets the obstacle avoidance distance requirement, and improve the success rate of marking the lane line.

It should be noted that, the above-mentioned first embodiment is only described by taking a common obstacle as an example. In another optional implementation, the obstacle may also be an obstacle with a traffic regulation indication function, and the obstacle with a traffic regulation indication function instructs the vehicle to avoid the obstacle on the side of the target obstacle avoidance area. That is to say, the lane line marked on the map also needs to be located on the side of the target obstacle avoidance area. In this case, the mapping device can also complete the lane marking scheme in the first embodiment above in combination with the type of obstacles, and the specific implementation process includes any of the following:

Scheme 1, the mapping equipment first identifies the type of the obstacle. If it is an obstacle with the function of traffic regulation indication, then: determine the first lane line on the side of the target obstacle avoidance area indicated by the obstacle with the traffic regulation indication function. When the line intersects with the obstacle or the minimum distance to the obstacle is less than the preset obstacle avoidance distance, re-determine the second lane with the minimum distance to the obstacle greater than or equal to the preset obstacle avoidance distance on the side of the target obstacle avoidance area Line, and mark the second lane line on the map; when the minimum distance between the first lane line and the obstacle is greater than or equal to the preset obstacle avoidance distance, directly mark the first lane line on the map. If it is a common obstacle, then: randomly determine the first lane line, and judge whether the first lane line intersects with the obstacle or whether the minimum distance to the obstacle is less than the preset obstacle avoidance distance, if there is one that is yes, then In one of the areas on both sides of the first lane line, a second lane line whose minimum distance to the obstacle is greater than or equal to the preset obstacle avoidance distance is re-determined, and the second lane line is marked on the map, If both items are negative, mark the first lane line directly on the map.

Option 2: The mapping equipment first randomly fits the first lane line, and then identifies the type of the obstacle. If it is an obstacle with the function of traffic regulation indication, then: determine whether the first lane line is located on the side of the target obstacle avoidance area and is in line with the obstacle. If the minimum distance is greater than or equal to the preset obstacle avoidance distance, if so, mark the first lane line on the map; The second lane line of the obstacle avoidance distance, and mark the second lane line on the map. If it is a common obstacle, then: judge whether the minimum distance between the first lane line and the obstacle is greater than or equal to the preset obstacle avoidance distance, if not, then in one of the areas on both sides of the first lane line Re-determine the second lane line whose minimum distance from the obstacle is greater than or equal to the preset obstacle avoidance distance, and mark the second lane line on the map. If so, mark the first lane line on the map.

The following takes the above solution 2 as an example, and further introduces the specific implementation process of the lane marking method based on the second embodiment and the third embodiment.

[Example 2]

FIG. 4 exemplarily shows a schematic flowchart of a lane marking method provided in Embodiment 2 of the present application, and the method is applicable to a drawing device, such as the drawing device 120 shown in FIG. 1 . As shown in Figure 4, the process includes the following steps:

Step 401, the mapping device obtains the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection.

Step 402, the mapping device selects at least two control points in the intersection, and determines Q first lane lines moving from the entry point to the exit point according to the entry point, the exit point and the at least two control points, where Q is: An integer greater than or equal to 2, any two of the Q first lane lines use different control points.

Exemplarily, the mapping device may randomly select Q control points from the intersection, and draw a second-order Bezier curve or a second-order spline curve according to the entry point, each of the Q control points, and the exit point, to get Q first lane lines. Among them, you can choose as many control points as possible, for example, choose 5 or more at a time, and you can also try to choose points whose distance from the edge of the obstacle is greater than or equal to the preset obstacle avoidance distance, so as to fit as much as possible to meet the requirements. The first lane line required by the preset obstacle avoidance distance improves the efficiency of lane marking. In addition, considering that the final marked lane lines should match the type of obstacles, it is also possible to make the Q first lane lines evenly distributed in the areas on both sides of the obstacle to improve the distance from the Q first lane lines. The probability of selecting the target first lane line that satisfies the target obstacle avoidance area indicated by any type of obstacles reduces the probability of re-determining the second lane line, and further improves the labeling efficiency of the lane line.

For example, FIG. 5 exemplarily shows a schematic flowchart of a drawing of a left-turn lane line provided by an embodiment of the present application. As shown in FIG. 5 , the left-turn lane line in this example corresponds to the right side of the left-turn lane lane edge. In implementation, the drawing device may first draw a virtual drive-in line L 1 along the drive-in direction from the drive-in point I, draw a virtual drive-in line L ₂ from the drive-out point O along the opposite direction of the drive-out direction, and draw the virtual drive-in line L ₂ along the opposite direction of the drive-out direction from the drive-in point O. The intersection P of the incoming line L ₁ and the virtual outgoing line L ₂ is used as a control point, and the first lane line K ₁₁ is obtained by drawing according to the incoming point I, the control point P and the outgoing point O. Then, the drawing device can randomly select control points from both sides of the first lane line K ₁₁ to draw other first lane lines, for example, randomly select three control points from the left side of the first lane line K ₁₁ , according to the entry point I, The three control points and the exit point O are drawn respectively to obtain the first lane line K ₁₂ , the first lane line K ₁₃ and the first lane line K ₁₄ , and two control points are randomly selected from the right side of the first lane line K ₁₁ , and draw the first lane line K ₁₅ and the first lane line K ₁₆ according to the entry point I, the two control points and the exit point O, respectively. So far, the drawing equipment has drawn a total of 6 first lane lines K ₁₁ to K ₁₆ .

Step 403, the mapping device determines the type of obstacles in the intersection:

If the obstacle in the intersection is an obstacle with a traffic regulation indication function, go to step 404;

If the obstacle in the intersection is an obstacle that does not have the function of traffic regulation indication, step 405 is executed.

Step 404, the mapping device determines whether there is a target first lane line whose minimum distance from the obstacle is not less than the preset obstacle avoidance distance in the target obstacle avoidance area indicated by the obstacle with the traffic regulation indication function, and the target first lane line belongs to the target obstacle avoidance area. There are Q first lane lines, if yes, go to step 406 , if not, go to step 407 .

In the above-mentioned

steps

403 and 404 , the obstacles having the function of traffic regulation indication may include, for example, traffic circles, guard boxes, circular circles, roundabouts, and the like. For example, a traffic circle usually instructs a vehicle to turn left to turn left on the left side of the traffic circle, and a vehicle to turn right to turn right on the right side of the traffic circle: if the first lane line corresponds to the left-turn lane line, the mapping device The first lane line located on the left side of the obstacle and the minimum distance from the obstacle is greater than or equal to the preset obstacle avoidance distance can be selected from the Q first lane lines as the target first lane line; if the first lane line corresponds to For the right-turn lane line, the mapping device can select the first lane line on the right side of the obstacle and the minimum distance from the obstacle is greater than or equal to the preset obstacle avoidance distance from the Q first lane lines, as the target first. lane line. For another example, the roundabout instructs the vehicle to go around the roundabout in one direction in a counterclockwise direction to the exit, so no matter whether the first lane line is the left-turn lane line, the right-turn lane line or the straight lane line, the mapping equipment needs to start from the Q-th From a lane line, the first lane line located on the right side of the obstacle and the minimum distance from the obstacle is greater than or equal to the preset obstacle avoidance distance is selected as the target first lane line.

Exemplarily, continuing to refer to FIG. 5 , among the six first lane lines, the first lane line K ₁₁ , the first lane line K ₁₂ and the first lane line K ₁₅ all intersect with obstacles, and the three first lane lines K 11 , K 12 and K 15 all intersect with obstacles. The minimum distance between the lane line and the obstacle must be smaller than the preset obstacle avoidance distance, so the mapping equipment can exclude these three lane lines first. Among the remaining three first lane lines, the first lane line K ₁₃ and the first lane line K ₁₄ are located on the left side of the obstacle, and the first lane line K ₁₆ is located on the right side of the obstacle, assuming that the first lane line K ₁₃ is connected to the obstacle The minimum distance of the obstacle is less than the preset obstacle avoidance distance, and the minimum distance between the first lane line K ₁₄ and the first lane line K ₁₆ and the obstacle is greater than the preset obstacle avoidance distance, then: when the obstacle is a traffic circle, Since the first lane line is a left-turn lane line, the mapping device can select from the first lane line K ₁₃ and the first lane line K ₁₄ located on the left side of the obstacle that the minimum distance to the obstacle is greater than the preset obstacle avoidance The first lane line K ₁₄ of the distance is used as the target first lane line; when the obstacle is a roundabout, the mapping device can set the first lane line on the right side of the obstacle and the minimum distance to the obstacle is greater than the preset obstacle avoidance distance. K ₁₆ as the target first lane line.

Step 405, the mapping device determines whether there is a target first lane line whose minimum distance to the obstacle is not less than the preset obstacle avoidance distance in the Q first lane lines, if yes, go to step 406, if not, go to step 407 .

In the

above steps

403 and 405, the obstacles that do not have the function of traffic regulations may include, for example, ordinary obstacles that hinder the driving of vehicles, central circles that prohibit vehicles from driving, road markings or high-speed fences, etc. It is enough to bypass these obstacles, regardless of the direction of the bypass. In this case, continuing to refer to FIG. 5 , the drawing device can first exclude the first lane lines K ₁₁ , K ₁₂ and K ₁₅ that intersect with the obstacle, and then calculate the remaining three first lane lines K ₁₃ , K respectively. ₁₄ and K ₁₆ and the minimum distance from the obstacle, and compare the calculated three minimum distances with the preset obstacle avoidance distance, and find the minimum distance between the first lane line K ₁₄ and the obstacle and the first lane line K ₁₆ and the obstacle The minimum distance of the obstacle is greater than the preset obstacle avoidance distance, and the minimum distance between the first lane line K ₁₃ and the obstacle is smaller than the preset obstacle avoidance distance, so the mapping equipment can be from the first lane line K ₁₄ and the first lane line. Select the target first lane line in K ₁₆ .

Step 406, the mapping device marks the target first lane line on the map.

In the above-mentioned step 406, referring to FIG. 5, it is assumed that the determined target lane line is the first lane line K ₁₄ , then the target lane line actually corresponds to the right side lane of the left-turn lane. In order to mark it on the map To get the most detailed and comprehensive lane line, the mapping equipment can also translate the first lane line K ₁₄ to the left by the preset lane width to obtain the left lane edge of the left-turn lane (not shown in Figure 5), and then set the The left lane edge and the first lane line K ₁₄ are marked on the map. Alternatively, the mapping device may also determine the center lane line of the left-turn lane according to the left lane edge and the first lane line K ₁₄ , and mark the left lane edge, the first lane line K ₁₄ and the center lane line on the map superior.

In an optional implementation manner, if there are at least two first lane lines with a minimum distance greater than or equal to the preset obstacle avoidance distance in the target obstacle avoidance area in the above step 404, or, the Q in the above step 405 If there are at least two first lane lines whose minimum distance is greater than or equal to the preset obstacle avoidance distance among the first lane lines, the mapping device may select a suitable first lane line from the at least two first lane lines as the target first lane line. The selection methods include but are not limited to: selecting the first lane with the shortest distance, so that the vehicle can bypass the obstacle as soon as possible; The risk of colliding with obstacles in the process of avoiding obstacles; select the first lane line closest to the obstacle to reduce the probability of the vehicle colliding with the vehicle on the same side or the opposite side in the process of bypassing the obstacle; randomly select a first lane line Lane lines; select one of the first lane lines in the middle, etc. It should be understood that the present application is not limited to only adopting the above several selection methods, and in actual operation, the drawing device can also decide which selection method to adopt according to specific traffic conditions. For example, when marking the left-turn lane line at the intersection of the two-way lane in the map, the mapping device can also try to select the first lane line on the right side of the obstacle as the second lane line, so as to reduce the collision between the vehicle and the opposite lane during the left turn process. The probability of side-traveling vehicle collision is improved, and the safety of left turns is improved.

Step 407 , the mapping device re-determines the second lane line, and marks the second lane line on the map, wherein the minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance.

In the implementation, if there is no first lane line in the target obstacle avoidance area in the above step 404, or all the first lane lines in the target obstacle avoidance area in the above step 404 either intersect with the obstacle, or The minimum distance is less than the preset obstacle avoidance distance, or the Q first lane lines in the above step 405 either intersect with the obstacle, or the minimum distance from the obstacle is less than the preset obstacle avoidance distance, then the mapping device can Any one of the first lane lines is used as the reference first lane line, and the second lane line is re-determined depending on the reference first lane line. Among them, the reference first lane line can try to select a first lane line that is not in bad condition, so as to improve the effective reference of the reference first lane line. For the specific implementation process of re-determining the second lane line, please refer to the following third embodiment, which will not be introduced here.

In the above-mentioned second embodiment, by pre-fitting a plurality of first lane lines, the probability that the drawing device can directly select a target first lane line that meets the requirements from the plurality of first lane lines can be improved, and there is no need to re- Determining the second lane line not only helps to improve the efficiency of lane line marking, but also marks the target first lane line with obstacle avoidance function in the map, which effectively improves the quality and accuracy of lane line marking. Moreover, by using different labeling methods for different types of obstacles, the target first lane line marked on the map can also meet the obstacle avoidance requirements of the corresponding obstacles, thereby effectively improving the accuracy of map labeling.

[Example 3]

FIG. 6 exemplarily shows a schematic flowchart of a lane marking method provided in Embodiment 3 of the present application, and the method is applicable to a drawing device, such as the drawing device 120 shown in FIG. 1 . As shown in Figure 6, the process includes the following steps:

Step 601, the mapping device obtains the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection.

Step 602, the mapping device determines the first lane line moving from the entry point to the exit point.

In the above step 602, the drawing device may only obtain one first lane line by fitting. FIG. 7 exemplarily shows a schematic diagram of a drawing flowchart of a left-turn lane line provided by an embodiment of the present application. As shown in FIG. 7(A) and FIG. 7(B) , the first lane line in this example corresponds to The right lane edge of the left turn lane. In implementation, the drawing device may first draw a virtual entry line L ₁ from the entry point I along the entry direction, and draw a virtual exit line L ₂ from the exit point O along the opposite direction of the exit direction. Point I, the intersection P of the virtual entry line L ₁ and the virtual exit line L ₂ , and the exit point O draw a second-order Bezier curve or a second-order spline curve to obtain the first lane line K ₁ . It should be noted that when the positions of the obstacles are different, the positional relationship between the first lane line K ₁ and the obstacles may also be different. For example, the obstacle J ₁ shown in (A) in FIG. The obstacle J ₂ shown in (B) is more to the left, which causes the same first lane line K ₁ to intersect with the obstacle J ₁ shown in (A) in FIG. _The illustrated obstacle J2 does not intersect.

Step 603, the mapping device determines the type of obstacles in the intersection:

If the obstacle in the intersection is an obstacle that does not have the function of traffic regulation indication, go to step 604;

If the obstacle in the intersection is an obstacle with the function of traffic regulation indication, step 606 is executed.

Step 604 , the mapping device determines whether the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance, if so, go to step 605 , if not, go to step 609 .

In the above step 604, when the preset obstacle avoidance distance is 0, the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance, which means: the first lane line intersects the obstacle, as shown in FIG. 7 shown in (A). When the preset obstacle avoidance distance is greater than 0 (for example, 30cm), the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance, which means: the first lane line intersects the obstacle, as shown in Figure 7 ( A); or, the first lane line does not intersect with the obstacle but the minimum distance is less than 30cm, as shown in (B) in Figure 7.

Step 605 , the drawing device selects one side of the area on both sides of the first lane line as the target obstacle avoidance area, and then performs step 607 .

In the above step 605, the mapping device can select the target obstacle avoidance area in any of the following ways:

Method 1, when the first lane line intersects with the obstacle, the first lane line will divide the obstacle into two obstacle areas, and the drawing device can select the area on both sides of the first lane line that is the same as the first lane line. The area where the obstacle area with the longest distance and the smallest distance of the lane line is located is used as the target obstacle avoidance area. The implementation process is as follows: continue to refer to (A) in FIG. 7 , assuming that the left area of the first lane line K ₁ is D ₁ , the right area is D ₂ , and the two areas between the first lane line K ₁ and the obstacle J ₁ are assumed to be D 1 . The intersection points are point E ₁ and point E ₂ , the first lane line K ₁ divides obstacle J ₁ into obstacle area S and obstacle area R, then the mapping device can first find the distance line segment on the edge of obstacle area S E ₁ E ₂ (In this paper, the line segment E ₁ E ₂ may refer to the part of the first lane line between the point E ₁ and the point E ₂ , or it may refer to the straight line obtained by connecting the point E ₁ and the point E ₂ segment, not specifically limited) the farthest point MS, assuming that the point _MS and the vertical foot of the line segment E ₁ E ₂ are point F, then the farthest distance between the obstacle area _S and the first lane line K ₁ is the line segment M _Length of SF. Correspondingly, the drawing device can find the point MR farthest from the line segment E ₁ E ₂ on the edge of the obstacle area _R , assuming that the point _MR and the line segment E ₁ E ₂ are perpendicular to the point G, then, the obstacle area The farthest distance between R and the first lane line K ₁ is the length of the line segment _MR G. Since the length of the line segment M SF is less than the length of the line segment M _R G, the obstacle area _S is the target obstacle area with the smallest distance from the first lane line K ₁ among the two obstacle areas. From the areas D ₁ and D ₂ on both sides of the first lane line K ₁ , the side area D ₁ where the target obstacle area S is located is selected as the target obstacle avoidance area.

In the above-mentioned way 1, by using the side area where the obstacle area with the longest distance and the smallest distance from the first lane line is located as the target obstacle avoidance area, it can rely on the positional relationship between the first lane line and the obstacle, through a relatively A small deformation obtains the second lane line, which helps to reduce the difficulty of refitting the second lane line. Also, since the second lane line is drawn in the area closest to the furthest distance from the edge of the obstacle, it is also possible to have the second lane line with a shorter length, helping to direct the vehicle to travel the shorter distance as quickly as possible. Avoid obstacles and improve the vehicle's obstacle avoidance efficiency.

Method 2: In the case where the first lane line does not intersect with the obstacle but the minimum distance is less than the preset obstacle avoidance distance, the mapping device can use the area on both sides of the first lane line that does not contain obstacles as the target obstacle avoidance area, such as the area D ₁ shown in (B) of FIG. 7 .

It should be noted that the above contents are merely exemplary to introduce two optional implementation manners. In other optional implementation manners, the mapping device may also randomly select one side of the area on both sides of the first lane line as the target obstacle avoidance area, or may also use the obstacles included in the areas on both sides of the first lane line The area on the side with the smallest area of the object area is used as the target obstacle avoidance area, or different strategies can be adopted according to specific traffic scenarios. For example, considering that when a straight vehicle avoids an obstacle on the left side, it is likely to collide with a straight vehicle on the opposite side, so the mapping device can also take the area on the right side of the second lane line as the target obstacle avoidance area for marking on the map Exit the second lane line that avoids on the right side of the obstacle to reduce the probability of collision between the straight-going vehicle and the opposite-side straight-going vehicle.

Step 606, the mapping device determines whether the first lane line is located in the target obstacle avoidance area indicated by the obstacle with the traffic regulation indication function and the minimum distance from the obstacle is not less than the preset obstacle avoidance distance, if not, then go to step 607 , if yes, go to step 609 .

Exemplarily, continuing to refer to (A) in FIG. 7 , assuming that the obstacle J ₁ is a traffic circle, then: the current corresponds to a left-turn lane, and the traffic circle indicates that the vehicle to be turned left turns left on the left side of the traffic circle. , that is, the target obstacle avoidance area indicated by the traffic circle is the area on the left side of the obstacle J1, and the _first lane line K1 is not located in the area _on the left side _of the obstacle J1 but intersects the obstacle J1, so the _first lane line K1 The lane line K ₁ is not located in the target obstacle avoidance area; and, the first lane line K ₁ intersects with the obstacle J ₁ , so the minimum distance between the first lane line K ₁ and the obstacle J ₁ is smaller than the preset obstacle avoidance distance , the mapping equipment needs to re-determine the second lane line. Continue to refer to as shown in (B) in FIG. 7 , assuming that the obstacle J ₂ is a roundabout, then: the current corresponding to the left-turn lane, the roundabout indicates that the vehicles all move counterclockwise to the exit position along the roundabout, so the target indicated by the roundabout is The obstacle avoidance area is the area on the right side of the obstacle J ₂ , and the first lane line K ₁ is located on the left area of the obstacle J ₂ , so the first lane line K ₁ is not located in the target obstacle avoidance area. The first lane line K ₁ does not intersect with the obstacle J ₂ , and the mapping device also needs to re-determine the second lane line.

Step 607, the mapping device selects at least one control point from the target obstacle avoidance area whose minimum distance to the obstacle is not less than the preset obstacle avoidance distance, and obtains the first control point by fitting according to the entry point, the at least one control point and the exit point. Two-lane line.

In the above step 607, the at least one control point may include one control point, and the drawing device draws a second-order Bezier curve or a second-order spline curve according to the entry point, the one control point and the exit point, to obtain a second order Bezier curve or a second-order spline curve. Lane line; or, including at least two control points, the drawing device draws a higher-order Bezier curve or a higher-order spline curve according to the entry point, the at least two control points and the exit point to obtain the second lane line.

In an optional implementation manner, continuing to refer to (A) in FIG. 7 , when the left area D1 _of the _first lane line K1 is the target obstacle avoidance area, the mapping device may first locate the target obstacle avoidance area. Find the point MS (ie, the first position point) that is farthest from the first lane line K ₁ on the obstacle area _S in the area D ₁ , and find the foot F from the point _MS to the first lane line K ₁ . The point MS starts to extend the line segment _MS _F in the opposite direction to the point N (ie, the second position point), and the length of the line segment MS _N is exactly equal to the preset obstacle avoidance distance. Through the above steps, the mapping device uses the point MS on the obstacle area _S farthest from the _first lane line K1 as a reference, and finds _a point N whose distance from the obstacle J1 is exactly equal to the preset obstacle avoidance distance. After that, the drawing device can obtain the second lane line by fitting according to any of the following methods based on the entry point I, the point N and the exit point O:

In the first way, the drawing device can directly use the point N as a control point, and draw a second-order Bezier curve or a second-order spline curve according to the entry point I, the control point N, and the exit point O to obtain the second lane line.

Mode 2, continuing to refer to (A) in FIG. 7 , the drawing device can draw a straight line L ₃ (ie, a control line) perpendicular to the line segment FN from the point N to both sides. The straight line L ₃ and the virtual approach line L The intersection point of ₁ is C ₁ (a fifth position point), and the intersection point with the virtual exit line L ₂ is C ₂ (another fifth position point). The drawing device can use point C ₁ , point N and point C ₂ as three control points, and obtain the second lane by fitting according to the entry point I, the control point C ₁ , the control point N, the control point C ₂ and the exit point O Wire. For example, a fourth-order Bezier curve or a fourth-order spline curve can be drawn directly according to the entry point I, the control point C ₁ , the control point N, the control point C ₂ and the exit point O to obtain the second lane line. Draw a second-order Bezier curve or a second-order spline curve at entry point I, control point C ₁ and control point N, as the first segment of the second lane line, according to control point N, control point C ₂ and exit point O draws a second-order Bezier curve or second-order spline as the second segment of the second lane line.

In the third mode, after the straight line L ₃ perpendicular to the line segment NF is made according to the method in the second mode, the drawing device can also select from the straight line L ₃ two points V 1 and V 2 (two points V ₁ and V ₂ (two Fifth position point), take point V ₁ , point N and point V ₂ as three control points, draw fourth order according to entry point I, control point V ₁ , control point N and control point V ₂ and exit point O Bezier curve or fourth-order spline curve to get the second lane line, or draw second-order Bezier curve or second-order spline curve according to the entry point I, control point V ₁ and control point N, as the second lane For the first segment of the line, draw a second-order Bezier curve or a second-order spline curve according to the control point N, the control point V2 and the exit point O, as the _second segment of the second lane line. Among them, the control point V ₁ and the control point V ₂ can be uniformly selected from both sides of the point N, that is, the length of the line segment V ₁ N is guaranteed to be equal to the length of the line segment V ₂ N, so that the drawing equipment can be based on the three control points with relatively uniform distribution. point to draw a smoother second lane line. Exemplarily, the method of uniform selection may include, but is not limited to: selecting a point on the straight line segment L3 _on the left side of the control point N whose distance from the control point N is exactly equal to the length of the line segment E ₁ E ₂ as the control point V ₁ ; On the straight line segment L3 _on the right side of the control point N, select a point whose distance from the control point N is exactly equal to the length of the line segment E ₁ E ₂ as the control point V ₂ ; select the midpoint of the line segment NC ₁ as the control point V ₁ , and select the line segment NC The midpoint of ₂ serves as the control point V ₂ . Of course, other selection methods may also be adopted, which will not be listed one by one here.

Mode 4: After selecting the control point V ₁ and the control point V ₂ on both sides of the point N according to the method in Mode 3, if the smoothness of the second lane line is not considered, it can also be determined according to the entry point I, the control point Draw a second-order Bezier curve or a second-order spline curve between C ₁ and control point V ₁ as the first segment of the second lane line, and take the line segment of control point V ₁ , control point N and control point V ₂ as the second segment For the second segment of the lane line, draw a second-order Bezier curve or a second-order spline curve according to the control point V ₂ , the control point C ₂ and the exit point O, as the third segment of the second lane line. In this way, the second lane line in which the curve segment and the straight segment are combined can be obtained.

In another optional implementation, continue referring to (B) shown in FIG. 7 , when the left area D ₁ of the first lane line K ₁ is the target obstacle avoidance area, the drawing device can first start from the obstacle J ₂ , find the point M _U (ie, the third position point) that is closest to the first lane line K ₁ , and find the foot X from the point M _U to the first lane line K ₁ , and extend the line segment M in the opposite direction from the point M _U _U X to point N (ie, the fourth position point), and the length of the line segment M _U N is exactly equal to the preset obstacle avoidance distance. Through the above steps, the drawing device uses the point MU _closest to the first lane line K ₁ on the obstacle J ₂ as the benchmark, and finds the point N whose distance from the obstacle J ₂ is exactly equal to the preset obstacle avoidance distance, and then, The mapping device may obtain the second lane line by fitting according to any of the above methods based on the entry point I, the point N, and the exit point O.

It should be noted that the above is just an example to introduce several possible fitting methods, and the present application does not limit the use of only these several fitting methods. For example, in another possible fitting method, continuing to refer to (A) in FIG. 7 , the drawing device may also select a distance from the extension line of the line segment FM _S to the point _MS that is greater than the preset obstacle avoidance distance The point (T in FIG. 7 ) is used as the control point N in the above four situations, and the second lane line is drawn according to one of the above four situations. Or, in another possible fitting manner, the mapping device can also directly select the distance from the obstacle greater than or equal to the preset distance from the area formed by the entry point I, the control point _MS and the exit point O at random. One or more control points of the obstacle avoidance distance draw a second lane line. There are many possible fitting methods, which will not be listed here.

Step 608, the mapping device marks the second lane line on the map.

Exemplarily, continuing to refer to (A) in FIG. 7 , the currently determined second lane line corresponds to the right lane edge of the left-turn lane. For at least one corresponding control point, at least one control point corresponding to the left lane edge is determined, and the left lane edge is drawn by using the entry point, at least one control point and exit point corresponding to the left lane edge. The preset lane width may refer to the width of the lane entering the lane or the width of the lane leaving the lane, or it may be a gradual transition from the width of the lane entering the lane to the width of the lane leaving the lane, so as to mark The rear lane line can be applied to the lane after the vehicle exits.

Step 609, the mapping device marks the first lane line on the map.

In the third embodiment above, in the case that the first lane line does not meet the labeling requirements, by selecting a control point whose distance from the obstacle is greater than or equal to the preset obstacle avoidance distance in a side area of the first lane line, As a benchmark for fitting the second lane line, the probability of fitting the second lane line that meets the obstacle avoidance distance requirement can be improved, and the success rate of marking the lane line can be improved. Moreover, by selecting different target obstacle avoidance areas for different types of obstacles, the second lane line can be located in the area corresponding to the obstacle as much as possible, effectively improving the accuracy of marking the lane line.

Some applications of the above lane line marking method are exemplarily introduced below based on different intersection situations. In the following, it is assumed that the obstacles in the intersection are ordinary obstacles.

road situation one

FIG. 8 exemplarily shows a schematic flowchart of marking a turning lane line in an intersection provided by an embodiment of the present application. As shown in FIG. 8 , the blank area in this example represents the intersection, the strip area represents the pedestrian crossing, and there is a crosswalk at the lower right of the intersection. A rectangular obstacle:

In one case, this example can be seen as marking the left-turn lane line, that is, the vehicle enters the intersection from the left side of the illustration and exits the intersection from the top of the illustration. In implementation, the drawing device may first draw a left-turn lane as shown in (A) in FIG. 8 according to the entry point B ₁₁ of the entry lane on the left side of the illustration and the exit point B ₂₁ of the exit lane above the illustration and _draw a left _turn as shown in (A) in _FIG . The left lane edge L ₁₂ of the lane is compared, and it is found that the right lane edge L ₁₁ intersects the obstacle while the left lane edge L ₁₂ does not intersect the obstacle. The right lane edge L ₁₁ is the critical edge in this case, Therefore, the drawing device can take the right lane edge _L11 as the first lane line. Further, according to the area of the two obstacle areas that the obstacle is divided into by the first lane line _L11 , the area of the obstacle area located _on the left side of the first lane line L11 is larger than that of the obstacle located on the right side of the first lane line. The area of the area is small, so the mapping device determines the left area of the first lane line _L11 as the target obstacle avoidance area, and selects the minimum distance from the obstacle from the left area of the first lane line _L11 not less than the preset avoidance area. At least one control point (not shown in FIG. 8 ) of the obstacle distance (such as 30cm), according to the entry point B ₁₁ of the left entering lane, the at least one control point and the exit of the exit lane above the illustration Point B ₂₁ draws a second lane line L ₂₁ as shown in FIG. 8(B) , and the second lane line L ₂₁ corresponds to the right lane edge of the left-turn lane. Then, use the at least one control point corresponding to the right lane edge _L21 and the width of the entering lane or the exiting lane to determine at least one control point corresponding to the left lane edge of the left turn lane, using the diagram shown in the figure The entry point B ₁₂ of the left entering lane, at least one control point corresponding to the edge of the left lane, and the exit point B ₂₂ of the exit lane above the figure, draw the left side as shown in (B) in Figure 8 Lane edge L ₂₂ . The right lane edge L ₂₁ and the left lane edge L ₂₂ in this example can instruct the left-turn vehicle to avoid the obstacle on the left side of the obstacle.

In another case, this example can also be regarded as marking the right-turn lane line, that is, the vehicle enters the intersection from the top of the figure and exits the intersection from the left side of the figure. In implementation, the drawing device may first draw a right-turn lane as shown in (A) in FIG. 8 according to the entry point B ₂₁ of the entry lane at the top of the illustration and the exit point B ₁₁ of the exit lane at the left side of the illustration. and _draw a right _turn as shown in (A) in _FIG . The right lane edge L ₁₂ of the lane is compared and found that the left lane edge L ₁₁ intersects the obstacle while the right lane edge L ₁₂ does not intersect the obstacle, so the left lane edge L ₁₁ can be used as the first lane line. According to the area of the two obstacle areas that the obstacle is divided into by the first lane line _L11 , the area of the obstacle area located _on the right side of the first lane line L11 is larger than that of the obstacle area located _on the left side of the first lane line L11. Therefore, the mapping device determines the area _on the right side of the first lane line L11 as the target obstacle avoidance area, and selects the minimum distance to the obstacle from the area _on the right side of the first lane line L11 not less than the preset obstacle avoidance area. At least one control point of the distance, which is drawn according to the entry point B ₂₁ of the entry lane at the top of the illustration, the at least one control point and the exit point B ₁₁ of the exit lane on the left side of the illustration, as shown in (B) of FIG. 8 . The second lane line L ₂₁ is illustrated, the second lane line L ₂₁ corresponds to the left lane edge of the right-turn lane. Then, use at least one control point corresponding to the left lane edge _L21 and the width of the entering lane or the width of the exiting lane to determine at least one control point corresponding to the right lane edge of the right-turn lane. The entry point B ₂₂ entering the lane above, at least one control point corresponding to the edge of the right lane, and the exit point B ₁₂ exiting the lane on the left side of the figure are drawn to draw the right side as shown in (B) in FIG. 8 Lane edge L ₂₂ . The left lane edge L ₂₁ and the right lane edge L ₂₂ in this example can instruct the right-turning vehicle to avoid the obstacle on the right side of the obstacle.

junction two

Fig. 9 exemplarily shows another schematic flowchart of marking a turning lane line in an intersection provided by an embodiment of the present application. As shown in Fig. 9, the blank area in this example represents the intersection, the strip area represents the pedestrian crossing, and the center of the intersection There is a rectangular obstacle at the upper position:

In one case, this example can be seen as marking the left-turn lane line, that is, the vehicle enters the intersection from the left side of the illustration and exits the intersection from the top of the illustration. In implementation, the drawing device may first draw a left-turn lane as shown in (A) in FIG. 9 according to the entry point B ₁₁ of the entry lane on the left side of the illustration and the exit point B ₂₁ of the exit lane above the illustration and draw a left turn as shown in Fig. _{9 (A) according to the entry point B 12 of the left entering lane and the exit point B 22} _of _the exit lane above the illustration The left lane edge L ₁₂ of the lane is compared, and it is found that the left lane edge L ₁₂ intersects the obstacle while the right lane edge L ₁₁ does not intersect the obstacle. The left lane edge L ₁₂ is the critical edge in this case, Therefore, the drawing device can take the left lane edge L ₁₂ as the first lane line. Further, according to the area of the two obstacle areas that the obstacle is divided into by the first lane line L12, the area _of the obstacle area located _on the right side of the first lane line L12 is larger than that of the obstacle area located _on the left side of the first lane line L12. The area of the obstacle area is small, so the mapping device determines the area _on the right side _of the first lane line L ₁₂ as the target obstacle avoidance area. The control point selected in the right area and the exit point B ₂₂ of the exit lane above the illustration draw a second lane line L ₂₂ as shown in (B) in FIG. 9 , and the second lane line L ₂₂ corresponds to the left The left lane edge of the turn lane. After that, use the control point corresponding to the left lane edge _L22 and the preset lane width to determine the control point corresponding to the right lane edge of the left-turn lane, according to the entry point _B11 of the left lane entering the lane. , the control point corresponding to the side line of the right lane and the exit point B ₂₁ of the exit lane above the figure, draw the side line L ₂₁ of the right side lane as shown in FIG. 9(B). The right lane edge L ₂₁ and the left lane edge L ₂₂ in this example can instruct the left-turn vehicle to avoid the obstacle on the right side of the obstacle.

In another case, this example can also be regarded as marking the right-turn lane line, that is, the vehicle enters the intersection from the top of the figure and exits the intersection from the left side of the figure. In implementation, the drawing device may first draw a right-turn lane as shown in (A) in FIG. 9 according to the entry point B ₂₁ of the entry lane at the top of the illustration and the exit point B ₁₁ of the exit lane at the left side of the illustration. and draw a right turn as shown in (A) in FIG. ₉ according to the entry point B ₂₂ of the entry lane at the top of the figure and the exit point B ₁₂ of the left exit lane as shown in the figure The right lane edge L ₁₂ of the lane is compared and found that the right lane edge L ₁₂ intersects the obstacle and the left lane edge L ₁₁ does not intersect the obstacle, so the right lane edge L ₁₂ can be used as the first lane line. According to the area of the two obstacle areas that the obstacle is divided into by the first lane line L12, the area _of the obstacle area located on the _{left side} of the first lane line L12 is larger than that of the obstacle area located _on the right side of the first lane line L12. The area is small, so the drawing device determines the area _on the left side _of the first lane line _L12 as the target obstacle avoidance area. The selected control point and the exit point B ₁₂ of the left exit lane in the figure draw a second lane line L ₂₂ as shown in (B) in FIG. 9 , and the second lane line L ₂₂ corresponds to the right turn lane. Right lane edge. Then, use at least one control point corresponding to the right lane edge _L22 and the preset lane width to determine the control point corresponding to the left lane edge of the right-turn lane, and drive into the lane according to the entry point B above the illustration _21. Draw the left lane edge L ₂₁ as shown in FIG. 9(B) from the control point corresponding to the right lane edge and the exit point B ₁₁ of the left exit lane as shown in the figure. The left lane edge L ₂₁ and the right lane edge L ₂₂ in this example can instruct the right-turning vehicle to avoid the obstacle on the left side of the obstacle.

Road situation three

FIG. 10 exemplarily shows a schematic flowchart of marking a straight lane line at an intersection provided by an embodiment of the present application. As shown in FIG. 10 , in this example, the blank area represents the intersection, the strip area represents the pedestrian crossing, and there are phase lines in the intersection. Two adjacent straight lanes, and there is a rectangular obstacle in the center of the intersection:

In one case, this example can be seen as marking two straight lane lines indicating left-to-right travel, that is, the vehicle enters the intersection from the left side of the figure and exits the intersection from the right side of the figure. When drawing the straight lane line of the straight lane below the illustration, the drawing device can first draw the straight lane as shown in (A) in Figure 10 according to the entry point _B11 on the left side of the illustration and the exit point _B21 on the right side of the illustration. The right lane edge L ₁₁ of the lane is drawn according to the left entry point B ₁₂ and the right exit point B ₂₂ as shown in FIG. 10 (A) to draw the left lane edge L ₁₂ of the straight lane as shown in FIG. , the comparison shows that although the right lane edge L ₁₁ and the left lane edge L ₁₂ both intersect with the obstacle, if the obstacle is avoided on the left side of the obstacle, the right lane edge L ₁₁ is the critical edge, and the right lane edge L 11 is the critical edge. The maximum distance between the lane edge L ₁₁ and the left obstacle is D ₁ . If the obstacle is avoided on the right side of the obstacle, the left lane edge L ₁₂ is the critical edge, and the distance between the left lane edge L ₁₂ and the right obstacle is The maximum distance is D ₂ . Obviously, D ₁ is greater than D ₂ . Based on the principle that the minimum side of the maximum distance is the target obstacle avoidance area, the drawing equipment can take the left lane edge L ₁₂ as the first lane line, and the first lane line L The right side of ₁₂ is used as the target obstacle avoidance area. According to the entry point B ₁₂ on the left side of the drawing, the control point selected from the right area of the first lane line L ₁₂ and the exit point B ₂₂ on the right side of the drawing as shown in the figure: The second lane line L ₂₂₁ shown in (B) of FIG. 10 corresponds to the left side lane line L ₂₂₁ of the straight lane _below , and is drawn according to the preset lane width as shown in FIG. 10 ( B) Illustrated right lane edge L ₂₁ of the lower straight lane. When drawing the straight lane line of the straight lane above the illustration, the drawing device can first draw the straight lane as shown in (A) in FIG. 10 according to the entry point B ₁₂ on the left side of the illustration and the exit point B ₂₂ on the right side of the illustration The right lane edge L ₁₂ of the lane is drawn according to the left entry point B ₁₃ and the right exit point B ₂₃ as shown in FIG. 10 (A) to draw the left lane edge L ₁₃ of the straight lane as shown in FIG. , it is found by comparison that the right lane edge _L12 intersects the obstacle and the left lane edge _L13 does not intersect the obstacle, so the mapping device can take the right lane edge _L12 as the first lane line. According to the area of the two obstacle areas that the obstacle is divided into by the first lane line L12, the area _of the obstacle area located _on the left side of the first lane line L12 is larger than that of the obstacle area located _on the right side of the first lane line L12. _The area is small, so the mapping device determines the left area _of the first lane line L ₁₂ as the target obstacle avoidance area. The control point selected in and the exit point B ₂₂ of the exit lane on the right side of the illustration draws a second lane line as shown in (B) in FIG. 10 , and the second lane line L ₂₂₂ corresponds to the right side of the upper straight lane. The left lane edge L ₂₃ of the upper straight lane as shown in (B) in FIG. 10 is drawn according to the preset lane width.

In another case, this example can also be seen as marking two straight lane lines indicating driving from right to left, that is, the vehicle enters the intersection from the right side of the figure and exits the intersection from the left side of the figure. When drawing the straight lane line of the straight lane below the illustration, the drawing device can first draw the straight lane as shown in (A) in FIG. 10 according to the entry point _B21 on the right side of the illustration and the exit point _B11 on the left side of the illustration. The left lane edge L ₁₁ of the lane is drawn according to the illustrated right entry point B ₂₂ and the illustrated left exit point B ₁₂ to draw the right lane edge L ₁₂ of the straight lane as shown in (A) in FIG. 10 . , the comparison shows that although the left lane edge L ₁₁ and the right lane edge L ₁₂ both intersect with the obstacle, if the obstacle is avoided on the right side of the obstacle, the left lane edge L ₁₁ is the critical edge, and the left lane edge L 11 is the critical edge. The maximum distance between the lane edge L ₁₁ and the obstacle on the right is D ₁ . If the obstacle is avoided on the left side of the obstacle, the lane edge L ₁₂ on the right is a critical edge, and the distance between the edge L ₁₂ on the right lane and the obstacle on the left is The maximum distance is D ₂ . Obviously, D ₁ is greater than D ₂ . Based on the principle that the minimum side of the maximum distance is the target obstacle avoidance area, the drawing equipment can take the right lane edge L ₁₂ as the first lane line, and the first lane line L The left side of ₁₂ is used as the target obstacle avoidance area. According to the entry point B ₂₂ on the right side in the drawing, the control point selected from the left area of the first lane line L ₁₂ and the exit point B ₁₂ on the left side in the drawing, the drawing is as follows: The second lane line L ₂₂₁ shown in (B) in FIG. 10 corresponds to the right lane edge L ₂₂₁ of the straight lane _below , which is then drawn according to the preset lane width as shown in FIG. 10 ( B) Illustrated left lane edge _L21 of the lower straight lane. When drawing the straight lane line of the straight lane above the illustration, the drawing device can first draw the straight lane as shown in (A) in Figure 10 according to the entry point B ₂₂ on the right side of the illustration and the exit point B ₁₂ on the left side of the illustration The left lane edge L ₁₂ of the lane is drawn according to the illustrated right entry point B ₂₃ and the illustrated left exit point B ₁₃ to draw the right lane edge L ₁₃ of the straight lane as shown in (A) in FIG. 10 . , it is found by comparison that the left lane edge _L12 intersects the obstacle and the right lane edge _L13 does not intersect the obstacle, so the drawing device can take the left lane edge _L12 as the first lane line. According to the area of the two obstacle areas that the obstacle is divided into by the first lane line L12, the area _of the obstacle area located _on the right side of the first lane line L12 is larger than that of the obstacle area located _on the left side of the first lane line L12. The area is small, so the mapping device determines the area _on the right side _of the first lane line _L12 as the target obstacle avoidance area. The control point selected in and the exit point B ₁₂ of the left exit lane in the figure draws a second lane line as shown in (B) in FIG. 10 , and the second lane line L ₂₂₂ corresponds to the left side of the upper straight lane. The side lane edge line, and then the right lane edge line L ₂₃ of the upper straight lane as shown in FIG. 10 (B) is drawn according to the preset lane width.

The above example enables vehicles in two adjacent straight lanes to avoid obstacles on either side of the obstacle.

Road situation four

FIG. 11 exemplarily shows another schematic flowchart of marking a straight lane line at an intersection provided by an embodiment of the present application. As shown in FIG. 11 , the blank area in this example represents the intersection, the strip area represents the pedestrian crossing, and there is an intersection in the intersection. Two adjacent straight lanes, and there is a rectangular obstacle at the lower center of the intersection:

In one case, this example can be seen as marking two straight lane lines indicating left-to-right travel, that is, the vehicle enters the intersection from the left side of the figure and exits the intersection from the right side of the figure. When drawing the straight lane line of the straight lane below the illustration, the drawing device can first draw the straight lane as shown in (A) in FIG. ₁₁ according to the entry point B11 on the left side of the illustration and the exit point _B21 on the right side of the illustration. The right lane edge L ₁₁ of the lane is drawn according to the left entry point B ₁₂ and the right exit point B ₂₂ as shown in FIG. 11 (A) to draw the left lane edge L ₁₂ of the straight lane as shown in FIG. , the comparison shows that although the right lane edge L ₁₁ and the left lane edge L ₁₂ both intersect with the obstacle, if the obstacle is avoided on the left side of the obstacle, the right lane edge L ₁₁ is the critical edge, and the right lane edge L 11 is the critical edge. The maximum distance between the lane edge L ₁₁ and the left obstacle is D ₃ . If the obstacle is avoided on the right side of the obstacle, the left lane edge L ₁₂ is the critical edge, and the distance between the left lane edge L ₁₂ and the right obstacle is The maximum distance is D ₄ . Obviously, D ₃ is smaller than D ₄ . Based on the principle that the minimum side of the maximum distance is the target obstacle avoidance area, the drawing equipment can take the right lane edge L ₁₁ as the first lane line, and the first lane line L The left area of ₁₁ is used as the target obstacle avoidance area, which is drawn according to the left entry point B ₁₁ in the figure, the control point selected from the left area of the first lane line L ₁₁ , and the right exit point B ₂₁ in the figure. The second lane line L _{21 as shown in FIG. 11(B), the second lane line L 21} _corresponds to the right lane edge of the lower straight lane, and is drawn according to the preset lane width as shown in FIG. 11(B). ), the left lane edge L ₂₂ of the lower straight lane. When drawing the straight lane line of the straight lane above the illustration, the drawing device can first draw the straight lane as shown in (A) in Figure 11 according to the entry point B ₁₂ on the left side of the illustration and the exit point B ₂₂ on the right side of the illustration The right lane edge L ₁₂ of the lane is drawn according to the left entry point B ₁₃ and the right exit point B ₂₃ as shown in FIG. 11 (A) to draw the left lane edge L ₁₃ of the straight lane as shown in FIG. , it is found by comparison that the right lane edge _L12 intersects the obstacle and the left lane edge _L13 does not intersect the obstacle, so the mapping device can take the right lane edge _L12 as the first lane line. According to the area of the two obstacle areas that the obstacle is divided into by the first lane line L12, the area _of the obstacle area located _on the left side of the first lane line L12 is larger than that of the obstacle area located _on the right side of the first lane line L12. The area of is small, so the mapping device determines the left area _of the first lane line L12 as the target obstacle avoidance area. Since the lower through lane line adjacent to the upper through lane line is also on the left side of the obstacle, the right lane edge of the upper through lane line can directly refer to the already drawn left lane edge L ₂₂ of the lower through lane. On this basis, the drawing device can directly determine the control point corresponding to the left lane edge of the upper straight lane according to the control point and the preset lane width used in drawing the left lane edge L ₂₂ , according to the left side of the illustration. The entry point B ₁₃ of the entry lane, the determined control point, and the exit point B ₂₃ of the illustrated right exit lane draw the left lane edge L of the upper straight lane as shown in FIG. 11(B) ₂₃ .

In another case, this example can also be seen as marking two straight lane lines indicating driving from right to left, that is, the vehicle enters the intersection from the right side of the figure and exits the intersection from the left side of the figure. When drawing the straight lane line of the straight lane below the illustration, the drawing device can first draw the straight lane as shown in (A) in FIG. ₁₁ according to the entry point B21 on the right side of the illustration and the exit point _B11 on the left side of the illustration. The left lane edge L ₁₁ of the lane is drawn according to the illustrated right entry point B ₂₂ and the illustrated left exit point B ₁₂ to draw the right lane edge L ₁₂ of the straight lane as shown in (A) in FIG. 11 , the comparison shows that although the left lane edge L ₁₁ and the right lane edge L ₁₂ both intersect with the obstacle, if the obstacle is avoided on the right side of the obstacle, the left lane edge L ₁₁ is the critical edge, and the left lane edge L 11 is the critical edge. The maximum distance between the lane edge L ₁₁ and the obstacle on the right is D ₃ . If the obstacle is avoided on the left side of the obstacle, the lane edge L ₁₂ on the right is a critical edge, and the distance between the edge L ₁₂ on the right lane and the obstacle on the left is The maximum distance is D ₄ . Obviously, D ₃ is smaller than D ₄ . Based on the principle that the minimum side of the maximum distance is the target obstacle avoidance area, the drawing equipment can take the left lane edge L ₁₁ as the first lane line, and the first lane line L The right area of ₁₁ is used as the target obstacle avoidance area, which is drawn according to the right entry point B ₂₁ in the figure, the control point selected from the right area of the first lane line L ₁₁ , and the left exit point B ₁₁ in the figure. The second lane line L _{21 as shown in FIG. 11(B), the second lane line L 21} _corresponds to the left lane edge of the straight lane below, and is drawn according to the preset lane width as shown in FIG. 11(B ). ), the right lane edge L ₂₂ of the lower straight lane. When drawing the straight lane line of the straight lane above the illustration, the drawing device can first draw the straight lane as shown in (A) in Figure 11 according to the entry point B ₂₂ on the right side of the illustration and the exit point B ₁₂ on the left side of the illustration The left lane edge L ₁₂ of the lane is drawn according to the illustrated right entry point B ₂₃ and the illustrated left exit point B ₁₃ to draw the right lane edge L ₁₃ of the straight lane as shown in (A) of FIG. 11 , it is found by comparison that the left lane edge _L12 intersects the obstacle and the right lane edge _L13 does not intersect the obstacle, so the drawing device can take the left lane edge _L12 as the first lane line. According to the area of the two obstacle areas that the obstacle is divided into by the first lane line L12, the area _of the obstacle area located _on the right side of the first lane line L12 is larger than that of the obstacle area located _on the left side of the first lane line L12. The area of is small, so the mapping device determines the area to the right _of the first lane line L12 as the target obstacle avoidance area. Since the lower through lane line adjacent to the upper through lane line is also on the right side of the obstacle, the left lane edge of the upper through lane line can directly refer to the drawn right lane edge L ₂₂ of the lower through lane. On this basis, the drawing equipment can directly determine the control point corresponding to the right lane edge of the upper straight lane according to the control point and the preset lane width used in drawing the right lane edge L ₂₂ . The entry point B ₂₃ of the entry lane, the determined control point, and the exit point B ₁₃ of the left exit lane as shown in FIG. 11 draw the right lane edge L of the upper straight lane as shown in (B) of FIG. 11 ₂₃ .

The above example enables vehicles in two adjacent through lanes to avoid an obstacle on the same side of the obstacle.

It should be noted that the above are just examples of several ways of marking obstacle avoidance lane lines at intersections. In actual traffic scenarios, there may be more intersections, which are not listed one by one in this application.

In addition, it should be noted that the above embodiments are only described by taking an obstacle in a lane or an intersection as an example, and in a real scene, there may also be multiple obstacles in a lane or an intersection. In this case, the drawing device may directly select a point whose minimum distance to multiple obstacles is greater than or equal to the preset obstacle avoidance distance as a control point to draw the second lane line, or may first use a certain obstacle After drawing the second lane line based on the object, then judge whether the second lane line meets the obstacle avoidance requirements of other obstacles, mark the second lane line when it meets the requirements, and re-use the second lane line as the benchmark when it does not meet the requirements. Draw a new second lane line, repeat the above process until the target second lane line that meets the obstacle avoidance requirements of all obstacles is found, and mark the target second lane line on the map. Wherein, the obstacle to be selected first may be randomly selected from multiple obstacles or sequentially selected in position order, or may be the one with the most severe positional relationship among the multiple obstacles, which is not specifically limited.

It should be noted that the names of the above information are only examples. With the evolution of communication technology, any of the above information may change its name, but no matter how the name changes, as long as its meaning is the same as the meaning of the above information in this application , all fall within the protection scope of this application.

The foregoing mainly introduces the solution provided by the present application from the perspective of interaction between various network elements. It can be understood that, in order to realize the above-mentioned functions, each network element in the above-mentioned implementation includes corresponding hardware structures and/or software modules for executing each function. Those skilled in the art should easily realize that the present invention can be implemented in hardware or a combination of hardware and computer software in conjunction with the units and algorithm steps of each example described in the embodiments disclosed herein. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

According to the foregoing method, FIG. 12 exemplarily shows a schematic structural diagram of a lane marking device provided by an embodiment of the present application. As shown in FIG. 12 , the device may be a drawing device, or a chip or a circuit, for example, it may be set in The chip or circuit in the drawing device can be, for example, the drawing device described in any one of Embodiments 1 to 3.

As shown in FIG. 12 , the lane marking apparatus 1201 may include a processor 1202, a memory 1204 and a transceiver 1203, and may further include a bus system, wherein the processor 1202, the memory 1204 and the transceiver 1203 may be connected through the bus system.

It should be understood that the above-mentioned processor 1202 may be a chip. For example, the processor 1202 may be a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), or a system on chip (SoC). It can be a central processing unit (CPU), a network processor (NP), a digital signal processing circuit (DSP), or a microcontroller (microcontroller). unit, MCU), it can also be a programmable logic device (PLD) or other integrated chips.

In the implementation process, each step of the above-mentioned method may be completed by an integrated logic circuit of hardware in the processor 1202 or an instruction in the form of software. The steps of the methods disclosed in conjunction with the embodiments of the present application may be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor 1202 . The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory 1204, and the processor 1202 reads the information in the memory 1204, and completes the steps of the above method in combination with its hardware.

It should be noted that the processor 1202 in this embodiment of the present application may be an integrated circuit chip, which has a signal processing capability. In the implementation process, each step of the above method embodiments may be completed by a hardware integrated logic circuit in a processor or an instruction in the form of software. The aforementioned processors may be general purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components . The methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.

It can be understood that the memory 1204 in this embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically programmable Erase programmable read-only memory (electrically EPROM, EEPROM) or flash memory. Volatile memory may be random access memory (RAM), which acts as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM) ) and direct memory bus random access memory (direct rambus RAM, DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but not be limited to, these and any other suitable types of memory.

When the lane marking apparatus 1201 corresponds to a drawing device, the lane marking apparatus may include a processor 1202, a transceiver 1203 and a memory 1204. The memory 1204 is used for storing instructions, and the processor 1202 is used for executing the instructions stored in the memory 1204, so as to realize the drawing device in any one or any of the corresponding methods as shown in FIG. 2, FIG. 4 or FIG. 6 above. , or execute the method executed by the drawing device in any of the embodiments shown in the first embodiment to the third embodiment.

When the lane marking device 1201 is a mapping device and the first embodiment is implemented: the transceiver 1203 can receive the environmental image reported by the collected vehicle, and the processor 1202 can construct a point cloud map according to the environmental image, and obtain the vehicle entering the intersection on the point cloud map the entry point of the vehicle, and the exit point of the vehicle exiting the intersection, determine the first lane line moving from the entry point to the exit point, where the first lane line intersects the obstacle in the intersection, or the first lane line and When the minimum distance between obstacles is less than the preset obstacle avoidance distance, select one of the areas on both sides of the first lane line as the target obstacle avoidance area, and select the target obstacle avoidance area within the target obstacle avoidance area. At least one control point whose distance is not less than the preset obstacle avoidance distance, according to the entry point, the at least one control point and the exit point, determine the second lane line whose minimum distance to the obstacle is not less than the preset obstacle avoidance distance , and mark the second lane line on the map.

When the lane marking device 1201 is a mapping device, and the second embodiment is implemented: the transceiver 1203 can receive the environmental image reported by the collected vehicle, and the processor 1202 can construct a point cloud map according to the environmental image, and obtain the vehicle entry on the point cloud map. The entry point of the intersection and the exit point of the vehicle exiting the intersection, at least two control points are selected in the intersection, and at least two first lane lines are determined according to the entry point, the exit point and the at least two control points, And the control points used by any two of the at least two first lane lines are different, and then it is determined from the at least two first lane lines that the minimum distance to the obstacle in the intersection is not less than the preset value. The target first lane line of the obstacle avoidance distance, and the target first lane line is marked on the map.

For the concepts related to the technical solution of the drawing device provided by the embodiment of the present application, the explanation and detailed description and other steps involved in the lane marking device 1201 refer to the description of the content in the foregoing method or other embodiments. Do repeat.

Based on the above embodiments and the same concept, FIG. 13 exemplarily shows a schematic structural diagram of another lane marking device provided by the embodiment of the present application. As shown in FIG. 13 , the lane marking device 1301 may be a drawing device, an exemplary The ground may be the drawing device described in any one of Embodiments 1 to 3, or may be a chip or a circuit, such as a chip or circuit that can be provided in the drawing device. The lane marking device can implement the steps performed by the drawing device in any one or more of the corresponding methods shown in FIG. 2 , FIG. 4 or FIG. A method performed by a drawing device in one embodiment. As shown in FIG. 13 , the lane marking device 1301 may include an acquiring unit 1302 , a determining unit 1303 , a selecting unit 1304 and a marking unit 1305 .

When the lane marking device 1301 is a drawing device, and the first embodiment is implemented: the obtaining unit 1302 can obtain the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection, and the determining unit 1303 is at the first lane line and the intersection. In the case where the obstacles in the line intersect, or the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance, the first lane line moving from the entry point to the exit point can be determined, and the selection unit 1304 may select one of the areas on both sides of the first lane line as the target obstacle avoidance area, select at least one control point within the target obstacle avoidance area whose distance from the obstacle is not less than the preset obstacle avoidance distance, and determine The unit 1303 can also determine the second lane line according to the entry point, at least one control point and the exit point. The minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance, and then the labeling unit 1305 will use the map on the map. Mark the second lane line above.

When the lane marking device 1301 is a drawing device and the second embodiment is implemented: the obtaining unit 1302 can obtain the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection, and the selection unit 1304 can select at least Two control points, the determining unit 1303 may determine at least two first lane lines according to the entry point, exit point and at least two control points, and determine obstacles in the intersection from the at least two first lane lines The minimum distance of the object is not less than the preset obstacle avoidance distance of the target first lane line, wherein the control points used by any two of the at least two first lane lines are different. Mark the target first lane line on it.

It should be understood that the above division of the units of the lane marking device 1301 is only a division of logical functions, and may be fully or partially integrated into a physical entity in actual implementation, or may be physically separated. For the concepts related to the technical solutions provided by the embodiments of the present application involved in the lane marking device 1301, please refer to the descriptions of the foregoing methods or other embodiments for explanations, detailed descriptions and other steps, which will not be repeated here.

According to the method provided by the embodiment of the present application, the present application also provides a computer program product, the computer program product includes: computer program code, when the computer program code is run on a computer, the computer is made to execute FIG. 2 , FIG. 4 or The method of any one of the embodiments shown in FIG. 6 .

According to the method provided by the embodiments of the present application, the present application also provides a computer-readable storage medium, where the computer-readable medium stores program codes, and when the program codes are run on a computer, the computer is made to execute FIG. 2 and FIG. 4 . Or the method of any one of the embodiments shown in FIG. 6 .

According to the method provided by the embodiment of the present application, the present application also provides a vehicle, the vehicle can collect an environment image, build a point cloud map based on the environment image, and then execute any one of the above shown in FIG. 2 , FIG. 4 or FIG. 6 . or any number of steps performed by the mapping device in the corresponding method to mark lane lines that can avoid obstacles on the point cloud map.

According to the method provided by the embodiment of the present application, the present application also provides an Internet of Vehicles system, which includes the aforementioned vehicle and a mapping device. The vehicle can collect an environment image and send it to the mapping device, and the mapping device can construct a point cloud map based on the environment image. And perform the steps performed by the mapping device in any one or more of the corresponding methods shown in FIG. 2 , FIG. 4 or FIG. 6 to mark the lane lines that can avoid obstacles on the point cloud map.

The above-described embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. The computer instructions may be stored in or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server or data center Transmission to another website site, computer, server, or data center by wire (eg, coaxial cable, optical fiber, digital subscriber line, DSL) or wireless (eg, infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes an integration of one or more available media. The available media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, high-density digital video discs (DVDs)), or semiconductor media (eg, solid state drives, SSD)) etc.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

A method for marking lane lines, characterized in that the method comprises:

Obtain the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection;

determining a first lane line moving from the entry point to the exit point, wherein the first lane line intersects an obstacle in the intersection or the first lane line intersects the obstacle The minimum distance between them is less than the preset obstacle avoidance distance;

Select one of the areas on both sides of the first lane line as the target obstacle avoidance area;

In the target obstacle avoidance area, select at least one control point whose distance from the obstacle is not less than the preset obstacle avoidance distance;

A second lane line is determined according to the entry point, the at least one control point and the exit point, and the minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance ;

The second lane line is marked on the map.
The method of claim 1, wherein the target obstacle avoidance area satisfies at least one of the following conditions:

be located in the obstacle avoidance area indicated by the obstacle with the function of traffic regulation indication;

In the case that the first lane line does not intersect with the obstacle, the obstacle is not included;

In the case that the first lane line intersects the obstacle, including the obstacle area with the smallest area among the two obstacle areas divided by the first lane line;

or,

In the case where the first lane line intersects the obstacle, the obstacle area with the smallest distance from the first lane line among the two obstacle areas divided by the first lane line is included.
The method of claim 1 or 2, wherein when the first lane line intersects the obstacle:

The selecting, in the target obstacle avoidance area, at least one control point whose distance from the obstacle is not less than the preset obstacle avoidance distance includes:

Find the first position point farthest from the first lane line on the edge of the obstacle area included in the target obstacle avoidance area;

In the target obstacle avoidance area, a second position point whose distance from the first position point is the preset obstacle avoidance distance is determined, and the connection between the second position point and the first position point is The line is perpendicular to the tangent of the first lane line, or perpendicular to the line segment between the two intersections of the first lane line and the obstacle;

Take the second position point as one of the control points.
The method of claim 1 or 2, wherein when the first lane line does not intersect the obstacle:

The selecting, in the target obstacle avoidance area, at least one control point whose distance from the obstacle is not less than the preset obstacle avoidance distance includes:

Find the third position point closest to the first lane line from the edge of the obstacle;

In the target obstacle avoidance area, a fourth position point whose distance from the third position point is the preset obstacle avoidance distance is determined, and the connection between the fourth position point and the third position point is the line is perpendicular to the tangent of the first lane line, or perpendicular to the tangent of the obstacle at the third position point;

The fourth position point is used as one of the control points.
The method of claim 3 or 4, wherein the method further comprises:

Drawing a control line from the control point in a direction perpendicular to the connecting line;

Select at least two fifth position points on both sides of the control point from the control line;

The at least two fifth position points are used as at least two of the control points.
The method of claim 5, wherein the at least two control points include at least one of the following:

The intersection of the control line and the entry line, and the intersection of the control line and the exit line, the entry line is a straight line drawn along the entry direction from the entry point, and the exit line is a straight line drawn from said exit point in the opposite direction of exit;

two points on the control line whose distance from the control point is equal to the length of the line segment between the two intersections of the first lane line and the obstacle;

or,

Two points on the control line at a distance from the control point equal to the length of the first lane line inside the obstacle.
The method according to any one of claims 1 to 6, wherein the determining the first lane line moving from the entry point to the exit point comprises:

The approach line is extended from the approach point in the approach direction;

The exit line is extended from the exit point in the opposite direction of the exit direction;

The first lane line is determined from the entry point, the intersection of the entry line and the exit line, and the exit point.
A method for marking lane lines, characterized in that the method comprises:

Obtain the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection;

selecting at least two control points in the intersection;

According to the entry point, the exit point and the at least two control points, at least two first lane lines are determined; any two first lane lines in the at least two first lane lines are used different control points;

Determine, from the at least two first lane lines, a target first lane line whose minimum distance from the obstacle in the intersection is not less than a preset obstacle avoidance distance;

Mark the target first lane line on the map.
The method of claim 8, wherein the selecting at least two control points in the intersection comprises:

The at least two control points whose distance from the obstacle is greater than the preset obstacle avoidance distance are selected in the intersection.
The method according to claim 8 or 9, wherein the minimum distance determined from the at least two first lane lines to the obstacle in the intersection is not less than a preset obstacle avoidance distance Target first lane lines, including:

If the obstacle is an obstacle with a traffic rule indication function, selecting the target first lane line from the first lane lines located in the target obstacle avoidance area indicated by the obstacle;

If the obstacle is an obstacle without a traffic rule indication function, selecting the target first lane line from the at least two first lane lines;

Wherein, the minimum distance between the target first lane line and the obstacle is not less than the preset obstacle avoidance distance.
The method according to any one of claims 8 to 10, wherein the method further comprises:

If the at least two first lane lines do not include the target first lane line whose minimum distance to the obstacle is not less than the preset obstacle avoidance distance, then:

selecting a reference first lane line from the at least two first lane lines;

Select one of the areas on both sides of the reference first lane line as the target obstacle avoidance area;

In the target obstacle avoidance area, select at least one control point whose distance from the obstacle is not less than the preset obstacle avoidance distance;

A second lane line is determined according to the entry point, the at least one control point and the exit point, and the minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance ;

The second lane line is marked on the map.
A device for marking lane lines, comprising:

an obtaining unit for obtaining the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection;

a determining unit for determining a first lane line moving from the entry point to the exit point, wherein the first lane line intersects an obstacle in the intersection, or the first lane line The minimum distance to the obstacle is less than the preset obstacle avoidance distance;

a selection unit, configured to select one of the areas on both sides of the first lane line as the target obstacle avoidance area, and select the distance from the obstacle in the target obstacle avoidance area to be not less than the preset at least one control point of the obstacle avoidance distance;

The determining unit is further configured to determine a second lane line according to the entry point, the at least one control point and the exit point, and the minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance;

A labeling unit, used for labeling the second lane line on the map.
The device of claim 12, wherein the target obstacle avoidance area satisfies at least one of the following conditions:

be located in the obstacle avoidance area indicated by the obstacle with the function of traffic regulation indication;

In the case that the first lane line does not intersect with the obstacle, the obstacle is not included;

In the case that the first lane line intersects the obstacle, including the obstacle area with the smallest area among the two obstacle areas divided by the first lane line;

or,

In the case where the first lane line intersects the obstacle, the obstacle area with the smallest distance from the first lane line among the two obstacle areas divided by the first lane line is included.
The device according to claim 12 or 13, characterized in that in the case that the first lane line intersects the obstacle, the selection unit is specifically configured to:

Find the first position point farthest from the first lane line on the edge of the obstacle area included in the target obstacle avoidance area;

In the target obstacle avoidance area, a second position point whose distance from the first position point is the preset obstacle avoidance distance is determined, and the connection between the second position point and the first position point is The line is perpendicular to the tangent of the first lane line, or perpendicular to the line segment between the two intersections of the first lane line and the obstacle;

Take the second position point as one of the control points.
The device according to claim 12 or 13, characterized in that, in the case that the first lane line does not intersect with the obstacle, the selection unit is specifically configured to:

Find the third position point closest to the first lane line from the edge of the obstacle;

In the target obstacle avoidance area, a fourth position point whose distance from the third position point is the preset obstacle avoidance distance is determined, and the connection between the fourth position point and the third position point is the line is perpendicular to the tangent of the first lane line, or perpendicular to the tangent of the obstacle at the third position point;

The fourth position point is used as one of the control points.
The device according to claim 14 or 15, wherein the selection unit is further used for:

Drawing a control line from the control point in a direction perpendicular to the connecting line;

Select at least two fifth position points on both sides of the control point from the control line;

The at least two fifth position points are used as at least two of the control points.
The apparatus of claim 16, wherein the at least two control points comprise at least one of the following:

The intersection of the control line and the entry line, and the intersection of the control line and the exit line, the entry line is a straight line drawn along the entry direction from the entry point, and the exit line is a straight line drawn from said exit point in the opposite direction of exit;

two points on the control line whose distance from the control point is equal to the length of the line segment between the two intersections of the first lane line and the obstacle;

or,

Two points on the control line at a distance from the control point equal to the length of the first lane line inside the obstacle.
The device according to any one of claims 12 to 17, wherein the determining unit is specifically configured to:

The approach line is extended from the approach point in the approach direction;

The exit line is extended from the exit point in the opposite direction of the exit direction;

The first lane line is determined from the entry point, the intersection of the entry line and the exit line, and the exit point.
A device for marking lane lines, comprising:

an obtaining unit for obtaining the entry point of the vehicle entering the intersection and the exit point of the vehicle leaving the intersection;

a selection unit for selecting at least two control points in the intersection;

A determination unit, configured to determine at least two first lane lines according to the entry point, the exit point and the at least two control points, and determine from the at least two first lane lines the The minimum distance of the obstacles in the intersection is not less than the target first lane line of the preset obstacle avoidance distance; wherein, the control points used by any two of the at least two first lane lines are different ;

The labeling unit is used for labeling the target first lane line on the map.
The apparatus of claim 19, wherein the selection unit is specifically used for:

The at least two control points whose distance from the obstacle is greater than the preset obstacle avoidance distance are selected in the intersection.
The device according to claim 19 or 20, wherein the determining unit is specifically configured to:

If the obstacle is an obstacle with a traffic rule indication function, selecting the target first lane line from the first lane lines located in the target obstacle avoidance area indicated by the obstacle;

If the obstacle is an obstacle without a traffic rule indication function, selecting the target first lane line from the at least two first lane lines;

Wherein, the minimum distance between the target first lane line and the obstacle is not less than the preset obstacle avoidance distance.
The device according to any one of claims 19 to 21, wherein the at least two first lane lines do not include a target No. 1 whose minimum distance from the obstacle is not less than a preset obstacle avoidance distance. For one lane line:

The selection unit is further configured to: select a reference first lane line from the at least two first lane lines, and select one of the regions from the two sides of the reference first lane line as a target obstacle avoidance region, In the target obstacle avoidance area, select at least one control point whose distance from the obstacle is not less than the preset obstacle avoidance distance;

The determining unit is further configured to: determine a second lane line according to the entry point, the at least one control point and the exit point, and the minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance;

The labeling unit is further used for: labeling the second lane line on the map.
A lane marking device, characterized in that it comprises a processor and a memory, the memory stores a computer program, and the processor runs the computer program to implement the method according to any one of claims 1 to 7, Or implement a method as claimed in any one of the preceding claims 8 to 11.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, when the computer program is executed, the method according to any one of the preceding claims 1 to 7, or A method as claimed in any of the preceding claims 8 to 11 is carried out.
A computer program product, characterized in that, when the computer program product is run on a processor, the method according to any one of the above claims 1 to 7 or any one of the above claims 8 to 11 is realized. method described in item.
A vehicle, characterized in that the vehicle is used to perform:

Collect environmental images;

build a point cloud map; and

The method according to any one of claims 1-11 marks lane lines on the point cloud map.
An Internet of Vehicles system, characterized in that it includes a vehicle and a drawing device, the vehicle is used to collect an environmental image and send the environmental image to the drawing device, and the drawing device is used to construct a point using the environmental image A cloud map, and marking lane lines on the point cloud map according to the method according to any one of claims 1-11.