Method and apparatus for annotating virtual lane at crossing

A method for annotating a virtual lane at a crossing, wherein the method comprises:

• acquiring, by a terminal device, driving trajectory data of vehicles driven by human drivers that passing through the crossing within a detection time from a sever, wherein the driving trajectory data is associated with an autonomous vehicle type;
• calculating, by the terminal device, a virtual connecting probability of any two disconnected lanes at the crossing according to the driving trajectory data of the vehicles that passing through the crossing;
• the any two disconnected lanes are any two lanes that have no real lane line connected to each other;
• the virtual connecting probability of the any two disconnected lanes is a probability that vehicles driving from one lane to the other between the any two disconnected lanes;
• aggregating, by the terminal device, driving trajectory data of two disconnected lanes whose virtual connecting probability is greater than a threshold when passing through the crossing, to generate the virtual lane for an autonomous vehicle passing at the crossing, wherein the virtual lane and the autonomous vehicle type have a one-to-one correspondence;
• annotating, by the terminal device, the virtual lane on an electronic map used to assist driving of the autonomous vehicle;
• and
• maneuvering, by the terminal device, the autonomous vehicle based on the electronic map;
• wherein the calculating, by the terminal device, a virtual connecting probability of any two disconnected lanes at the crossing according to the driving trajectory data of the vehicles that passing through the crossing, comprises:
• performing, by the terminal device, a data cleaning for the driving trajectory data of the vehicles that passing through the crossing;
• and
• calculating, by the terminal device, the virtual connecting probability of the any two disconnected lanes at the crossing according to the cleaned driving trajectory data;
• wherein the performing, by the terminal device, a data cleaning for the driving trajectory data of the vehicles that passing through the crossing, comprises:
• for any piece of the driving trajectory data that passing through the crossing, calculating, by the terminal device, a speed value of vehicles between any two positions in the any piece of the driving trajectory data, and deleting, by the terminal device, data of the any two positions in case that the speed value of the vehicles between the any two positions is greater than a speed threshold;
• or
• for any piece of the driving trajectory data that passing through the crossing, deleting, by the terminal device, data in the any piece of the driving trajectory data that coordinates of which do not belong to a lane that is passable.