Method and apparatus for determining lane centerline

A lane center line determining apparatus, comprising:

• at least one memory configured to store computer program code;
• and
• at least one a processor configured to access the at least one memory and operate as instructed by the computer program code, the computer program code comprising:
• obtaining code configured to cause the at least one processor to:
• obtain a target lane in a first road segment among a plurality of road segments, the target lane being an added or subtracted lane, wherein two side lane lines of the target lane are respectively connected to two endpoints of a first lane of a second road segment among the plurality of road segments and intersect at an intersection point connected to a first side lane line of a second lane in a third road segment among the plurality of road segments;
• and
• obtain target lane information of the target lane, the target lane information comprising:
• locations of the two endpoints at a first end of the target lane, and
• a location of the intersection point at a second end of the target lane,
• first determining code configured to cause the at least one processor to determine a first midpoint of the two endpoints at the first end of the target lane, as a first center endpoint of the first end of the target lane;
• second determining code configured to cause the at least one processor to determine a second midpoint between the intersection point and a mapping point of the intersection point, as a second center point of the second end of the target lane, the mapping point of the intersection point being located at a second side lane line of the second lane in the third road segment;
• third determining code configured to cause the at least one processor to determine a lane center line of the target lane by connecting the first center endpoint of the first end of the target lane and the second center endpoint of the second end of the target lane;
• path determining code configured to cause the at least one processor to determine the lane center line of the target lane as a travelling path of a vehicle;
• and
• sending code configured to cause the at least one processor to transmit the traveling path of the vehicle to the vehicle and direct the vehicle to travel along the lane center line,
• wherein the first lane in the second road segment and the second lane in the third road segment are substantially parallel, and
• wherein the third determining code is further configured to cause the at least one processor to:
• determine control points based on the first midpoint and the second midpoint, and a line extending in parallel to the second lane in the third road segment from the first midpoint, and a line extending in parallel to the first lane in the second road segment from the second midpoint;
• determine sampling points according to the control points;
• and
• sequentially connect the sampling point to obtain a first Bezier curve, and using the first Bezier curve as the lane center line of the target lane.

A non-transitory computer readable storage medium, storing computer program code, the computer program code, when executed by at least one processor, the at least one processor is configured to:

• obtain a target lane in a first road segment among a plurality of road segments, the target lane being an added or subtracted lane, wherein two side lane lines of the target lane are respectively connected to two endpoints of a first lane of a second road segment among the plurality of road segments and intersect at an intersection point connected to a first side lane line of a second lane in a third road segment among the plurality of road segments;
• obtain target lane information, the target lane information comprising:
• locations of the two endpoints at a first end of the target lane, and
• a location of the intersection point at a second end of the target lane
• determine a first midpoint of the two endpoints at the first end of the target lane, as a first center endpoint of the first end of the target lane;
• determine a second midpoint between the intersection point and a mapping point of the intersection point, as a second center point of the second end of the target lane, the mapping point of the intersection point being located at a second side lane line of the second lane in the third road segment;
• determine a lane center line of the target lane by connecting the first center endpoint of the first end of the target lane and the second center endpoint of the second end of the target lane;
• determine the lane center line of the target lane as a travelling path of a vehicle;
• and
• transmit the traveling path of the vehicle to the vehicle and direct the vehicle to travel along the lane center line,
• wherein the first lane in the second road segment and the second lane in the third road segment are substantially parallel, and
• wherein the at least one processor is further configured to:
• determine control points based on the first midpoint and the second midpoint, and a line extending in parallel to the second lane in the third road segment from the first midpoint, and a line extending in parallel to the first lane in the second road segment from the second midpoint;
• determine sampling points according to the control points;
• and
• sequentially connect the sampling point to obtain a first Bezier curve, and using the first Bezier curve as the lane center line of the target lane.