Method and Apparatus for Automatically Marking U-Turn Lane Line, Computer-Readable Storage Medium, and Map

A method comprising:

• obtaining first information about a to-be-marked intersection and comprising second information about an intersection entry point, third information about an intersection exit point, and fourth information about an obstacle that is higher than a road surface of a road on which a vehicle travels and that hinders a U-turn of the vehicle at the to-be-marked intersection, wherein the intersection entry point is based on a first endpoint of an entry lane line of the to-be-marked intersection, and wherein the intersection exit point is based on a second endpoint of an exit lane line of the to-be-marked intersection;
• and
• marking a U-turn lane line with a first depth that is based on a second depth of the obstacle,
• wherein the first depth is a depth at which the U-turn lane line extends from the intersection entry point or the intersection exit point to the to-be-marked intersection, and
• wherein the second depth is a first distance from a first farthest projection end of the obstacle on first extension line of the entry lane line to the intersection entry point or is a second distance from a second farthest projection end of the obstacle on a second extension line of the exit lane line to the intersection exit point.

A computer program product comprising instructions that are stored on a computer-readable medium and that, when executed by at least one processor, cause an apparatus to:

• obtain a map comprising a U-turn lane line with a first depth, wherein the first depth is based on a second depth of an obstacle that is higher than a road surface of a road on which a vehicle travels and that hinders a U-turn of the vehicle at a U-turn intersection,
• wherein the first depth is a depth at which the U-turn lane line extends from an intersection entry point or an intersection exit point to the U-turn intersection,
• wherein the intersection entry point is based on a first endpoint of an entry lane line of the U-turn intersection,
• wherein the intersection exit point is based on a second endpoint of an exit lane line of the U-turn intersection, and
• wherein the second depth is a first distance from a first farthest projection end of the obstacle on a first extension line of the entry lane line to the intersection entry point a or is a second distance from a second farthest projection end of the obstacle on a second extension line of the exit lane line to the intersection exit point.