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CN-121999453-A - Lane line processing method and device, electronic equipment and storage medium

CN121999453ACN 121999453 ACN121999453 ACN 121999453ACN-121999453-A

Abstract

The application relates to the technical field of maps and discloses a lane line processing method, a lane line processing device, electronic equipment and a storage medium, wherein the method comprises the steps of obtaining a first lane line and a second lane line on a target road; the method comprises the steps of segmenting a plurality of sampling points in a first lane line to obtain a plurality of first line segments, segmenting sampling points in a second lane line to obtain a plurality of second line segments, selecting a first target line segment from the plurality of first line segments and a second target line segment from the plurality of second line segments according to included angles of each first line segment and each second line segment, determining lateral position attributes of the first lane line and the second lane line relative to a center line of a target lane respectively according to the sampling points on the first target line segment and the sampling points on the second target line segment, wherein the lateral position attributes refer to attributes located on the left side or the right side of the center line of the target lane. The scheme of the application can improve the accuracy of the determined lateral position attribute.

Inventors

  • DONG WEI

Assignees

  • 腾讯科技（深圳）有限公司

Dates

Publication Date
20260508
Application Date
20241104

Claims (15)

  1. 1. A method of processing a lane line, comprising: acquiring a first lane line and a second lane line on a target lane; Segmenting a plurality of sampling points in the first lane line to obtain a plurality of first line segments, and segmenting the sampling points in the second lane line to obtain a plurality of second line segments; selecting a first target line segment from the plurality of first line segments and a second target line segment from the plurality of second line segments according to the included angles of the first line segments and the second line segments, wherein the included angle of the first target line segment and the second target line segment is smaller than an angle threshold; And determining side position attributes of the first lane line and the second lane line relative to a target lane center line respectively according to the sampling points on the first target line segment and the sampling points on the second target line segment, wherein the side position attributes refer to attributes positioned on the left side or the right side of the target lane center line, and the target lane center line refers to a lane center line between the first lane line and the second lane line.
  2. 2. The method of claim 1, wherein the segmenting the plurality of sampling points in the first lane line to obtain a plurality of first line segments and the segmenting the sampling points in the second lane line to obtain a plurality of second line segments comprises: segmenting a plurality of sampling points on the first lane line according to included angles formed by three adjacent sampling points on the first lane line to obtain a plurality of first line segments; And segmenting a plurality of sampling points on the second vehicle road line according to the included angles formed by the adjacent three sampling points on the second vehicle road line to obtain a plurality of second line segments, wherein the included angles formed by any adjacent three sampling points on the same second line segment are smaller than the reference angle threshold value.
  3. 3. The method of claim 2, wherein the segmenting the plurality of sampling points on the first lane according to the included angle formed by the adjacent three sampling points on the first lane to obtain a plurality of first line segments includes: Acquiring an i-2 th sampling point, an i-1 st sampling point and an i-th sampling point on the first lane line in a first driving direction, wherein i is a positive integer which starts to be valued from 3, and i is less than or equal to N, and N is the total number of the sampling points on the first lane line; Calculating a reference included angle formed by the i-2 th sampling point, the i-1 th sampling point and the i-th sampling point; If the reference included angle is smaller than the reference angle threshold, merging the ith sampling point into a jth first line segment where the ith-1 sampling point is located, wherein the 1 st sampling point and the 2 nd sampling point on the first lane line are divided into the 1 st first line segment in a first driving direction, and j is a positive integer; If the reference included angle is not smaller than the reference angle threshold, taking the i sampling points as the starting sampling points of the j+1th first line segment, and adding 1 to j in an accumulated manner; If i is smaller than N, adding 1 to the i, and returning to execute the step of acquiring the i-2 th sampling point, the i-1 st sampling point and the i-th sampling point on the first lane line in the first driving direction until i=n.
  4. 4. The method of claim 1, wherein determining lateral position attributes of the first lane line and the second lane line with respect to a target lane centerline, respectively, from the sampling points on the first target line segment and the sampling points on the second target line segment comprises: acquiring a midpoint sampling point on the first target line segment; acquiring two end sampling points on the second target line segment; and determining the lateral position attribute of the first lane line relative to the center line of the target lane and the lateral position attribute of the second lane line relative to the center line of the target lane according to the position relation between the connecting lines of the middle point sampling point and the two end sampling points.
  5. 5. The method of claim 1, wherein determining lateral position attributes of the first lane line and the second lane line with respect to a target lane centerline, respectively, from the sampling points on the first target line segment and the sampling points on the second target line segment comprises: determining the midpoints of any two adjacent sampling points on the first target line segment; Taking a connecting line between two end sampling points on the second target line segment as a datum line; Counting a first number of midpoints positioned on the left side of the datum line along a second driving direction and a second number of midpoints positioned on the right side of the datum line according to the position relation between midpoints of any two adjacent sampling points and the datum line; If the first number is greater than the second number, determining that a lateral position attribute of the first lane line with respect to the target lane centerline is indicative of the first lane line being located to the left of the target lane centerline along a second travel direction, and that a lateral position attribute of the second lane line with respect to the target lane centerline is indicative of the second lane line being located to the right of the target lane centerline along a second travel direction; If the first number is less than the second number, determining that the lateral position attribute of the first lane line with respect to the target lane centerline is indicative of the first lane line being located to the right of the target lane centerline along a second direction of travel, and the lateral position attribute of the second lane line with respect to the target lane centerline is indicative of the second lane line being located to the left of the target lane centerline along the second direction of travel.
  6. 6. The method of claim 1, wherein prior to segmenting the plurality of sampling points in the first lane line to obtain a plurality of first line segments and segmenting the sampling points in the second lane line to obtain a plurality of second line segments, the method further comprises: Calculating a first included angle formed by two end sampling points and a first midpoint sampling point on the first lane line; Calculating a second included angle formed by two end sampling points and a second midpoint sampling point on the second vehicle road; The segmenting the plurality of sampling points in the first lane line to obtain a plurality of first line segments, and segmenting the sampling points in the second lane line to obtain a plurality of second line segments, including: if the first included angle is not smaller than a reference angle threshold value, segmenting sampling points in the first lane line to obtain a plurality of first line segments; and if the second included angle is not smaller than the reference angle threshold value, segmenting the sampling points in the second vehicle lane line to obtain a plurality of second line segments.
  7. 7. The method of claim 6, wherein the method further comprises: And if the first included angle is smaller than the reference angle threshold value and the second included angle is smaller than the reference angle threshold value, determining the lateral position attribute of the first lane line relative to the center line of the target lane and the lateral position attribute of the second lane line relative to the center line of the target lane according to the relative position relation between the connecting lines between the midpoint sampling point on the first lane line and the two end sampling points on the second lane line.
  8. 8. The method of claim 1, wherein selecting a first target line segment from the plurality of first line segments and selecting a second target line segment from the plurality of second line segments based on the angle between each of the first line segments and each of the second line segments comprises: Constructing a plurality of line segment groups according to the plurality of first line segments and the plurality of second line segments, wherein one line segment group comprises a first line segment and a second line segment; Calculating an included angle between a first line segment and a second line segment in the same line segment group; determining a target line segment group with the minimum included angle, wherein the included angle between a first line segment and a second line segment in the line segment groups is smaller than an angle threshold value; And taking a first line segment in the target line segment group as the first target line segment, and taking a second line segment in the target line segment group as the second target line segment.
  9. 9. The method of claim 8, wherein constructing a plurality of line segment groups from the plurality of first line segments and the plurality of second line segments comprises: Selecting the first K first line segments in the first driving direction from the first line segments, wherein K is a positive integer greater than 1, and does not exceed the total number of the first line segments and the total number of the second line segments; Selecting the first K second line segments in the first driving direction from the plurality of second line segments; And combining the first K first line segments and the second K first line segments to obtain a plurality of line segment groups.
  10. 10. The method of claim 9, wherein combining the first K first line segments and the first K second line segments to obtain a plurality of line segment groups comprises: And combining each first line segment in the first K first line segments with each second line segment in the first K second line segments to obtain a plurality of line segment groups.
  11. 11. The method of claim 9, wherein combining the first K first line segments and the first K second line segments to obtain a plurality of line segment groups comprises: And combining the P first line segment in the first driving direction with the P second line segment in the first driving direction from the first K first line segments and the first K second line segments to obtain K line segment groups, wherein P is a positive integer which starts to take a value from 1, and P is less than or equal to K.
  12. 12. A lane line processing apparatus, comprising: the acquisition module is used for acquiring a first lane line and a second lane line on a target lane; the system comprises a segmentation module, a segmentation module and a control module, wherein the segmentation module is used for segmenting a plurality of sampling points in the first lane line to obtain a plurality of first line segments and segmenting the sampling points in the second lane line to obtain a plurality of second line segments; The selecting module is used for selecting a first target line segment from the plurality of first line segments and selecting a second target line segment from the plurality of second line segments according to the included angles of the first line segments and the second line segments, wherein the included angle of the first target line segment and the second target line segment is smaller than an angle threshold value; the side position attribute determining module is used for determining side position attributes of the first lane line and the second lane line relative to a center line of a target lane according to sampling points on the first target line segment and sampling points on the second target line segment, wherein the side position attributes refer to attributes located on the left side or the right side of the center line of the target lane, and the center line of the target lane refers to a lane center line between the first lane line and the second lane line.
  13. 13. An electronic device, comprising: A processor; a memory having stored thereon computer readable instructions which, when executed by the processor, implement the method of any of claims 1-11.
  14. 14. A computer readable storage medium having computer readable instructions stored thereon, which when executed by a processor, implement the method of any of claims 1-11.
  15. 15. A computer program product comprising computer instructions which, when executed by a processor, implement the method of any one of claims 1-11.

Description

Lane line processing method and device, electronic equipment and storage medium Technical Field The present application relates to the field of map technologies, and in particular, to a lane line processing method, apparatus, electronic device, and storage medium. Background In the development of map products, it is necessary to construct a lane center line for representing lane lines of two adjacent directional roads, define left-side roads and right-side roads for the lane center line correspondingly, to distinguish between the left-side roads and the right-side roads, and bind attributes indicating the left-side roads and the right-side roads for the lane center line correspondingly. The shape of the lane line is relatively complex, and various curves such as a ring shape are involved, and in the related art, there is a problem that the left and right lane determination accuracy is not high when the left and right lanes of the lane line are easily recognized incorrectly with respect to the lane center lines of two lane lines having complex shapes. Disclosure of Invention In view of the above problems, the embodiments of the present application provide a method, an apparatus, an electronic device, and a storage medium for processing a lane line, so as to solve the problem in the related art that the accuracy of determining the left and right side road of the lane center line is not high. According to an aspect of the embodiment of the present application, there is provided a lane line processing method, including: acquiring a first lane line and a second lane line on a target lane; Segmenting a plurality of sampling points in the first lane line to obtain a plurality of first line segments, and segmenting the sampling points in the second lane line to obtain a plurality of second line segments; selecting a first target line segment from the plurality of first line segments and a second target line segment from the plurality of second line segments according to the included angles of the first line segments and the second line segments, wherein the included angle of the first target line segment and the second target line segment is smaller than an angle threshold; And determining side position attributes of the first lane line and the second lane line relative to a target lane center line respectively according to the sampling points on the first target line segment and the sampling points on the second target line segment, wherein the side position attributes refer to attributes positioned on the left side or the right side of the target lane center line, and the target lane center line refers to a lane center line between the first lane line and the second lane line. According to an aspect of an embodiment of the present application, there is provided a lane line processing apparatus including: the acquisition module is used for acquiring a first lane line and a second lane line on a target lane; the system comprises a segmentation module, a segmentation module and a control module, wherein the segmentation module is used for segmenting a plurality of sampling points in the first lane line to obtain a plurality of first line segments and segmenting the sampling points in the second lane line to obtain a plurality of second line segments; The selecting module is used for selecting a first target line segment from the plurality of first line segments and selecting a second target line segment from the plurality of second line segments according to the included angles of the first line segments and the second line segments, wherein the included angle of the first target line segment and the second target line segment is smaller than an angle threshold value; the side position attribute determining module is used for determining side position attributes of the first lane line and the second lane line relative to a center line of a target lane according to sampling points on the first target line segment and sampling points on the second target line segment, wherein the side position attributes refer to attributes located on the left side or the right side of the center line of the target lane, and the center line of the target lane refers to a lane center line between the first lane line and the second lane line. In some embodiments, the segmentation module includes: The first segmentation unit is used for segmenting a plurality of sampling points on the first lane line according to included angles formed by three adjacent sampling points on the first lane line to obtain a plurality of first line segments; the second segmentation unit is used for segmenting the plurality of sampling points on the second vehicle road according to the included angles formed by the adjacent three sampling points on the second vehicle road to obtain a plurality of second line segments, and the included angles formed by any adjacent three sampling points on the same second line segment are smaller than the reference angle thresh