Title:
LANE LINE PLANNING METHOD AND RELATED APPARATUS
Document Type and Number:
WIPO Patent Application WO/2022/148172
Kind Code:
A1
Abstract:
A lane line planning method, a lane line planning apparatus, a high-precision map, an intelligent vehicle, a lane line planning device, and a computer readable storage medium. The method comprises: obtaining information of a first intersection, the information of the first intersection comprising information of a first reference point, information of a second reference point, and information of an obstacle of the first intersection (S301); determining a target projection point, wherein the target projection point is a projection point of the obstacle on a first depth and/or a second depth, the first depth is the depth of a first lane line extending to the first intersection, and the second depth is the depth of a second lane line extending to the first intersection (S302); and determining a lane line according to the first reference point, the second reference point and the target projection point (S303). According to the method, lane lines avoiding obstacles can be automatically planned, and the planning efficiency and accuracy are improved.
Inventors:
LIU DAWEI (CN)
ZHOU WANG (CN)
ZHOU WANG (CN)
Application Number:
PCT/CN2021/133214
Publication Date:
July 14, 2022
Filing Date:
November 25, 2021
Export Citation:
Assignee:
HUAWEI TECH CO LTD (CN)
International Classes:
G01C21/32; G01C21/36; G08G1/0969
Foreign References:
| CN110579222A | 2019-12-17 | |||
| CN109253735A | 2019-01-22 | |||
| CN105651295A | 2016-06-08 | |||
| CN106441312A | 2017-02-22 | |||
| CN111710159A | 2020-09-25 | |||
| JP2010026875A | 2010-02-04 | |||
| CN111332285A | 2020-06-26 |
Other References:
ZU SIJIE: "Topology Construction and Route Planning Based on Lane Driving Condition", GEOSPATIAL INFORMATION, HUBEI SHENG CEHUI DILI XINXI JU, CN, vol. 16, no. 5, 24 May 2018 (2018-05-24), CN , pages 53 - 56, 59, XP055949175, ISSN: 1672-4623, DOI: 10.3969/j.issn.1672-4623.2018.05
Attorney, Agent or Firm:
SCIHEAD IP LAW FIRM (CN)
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