Method and apparatus for generating junction plane, device, and storage medium

1 . A method for generating a junction plane of a composite node junction, executed by a computer device, and comprising:

determining the composite node junction comprising at least two single-node junctions according to road network data;

obtaining a road plane of the composite node junction according to junction information of the composite node junction;

respectively determining a junction plane of each of the at least two single-node junctions, wherein the respectively determining the junction plane of each of the at least two single-node junctions comprises: for each of the single-node junctions, determining at least two links connected to each of the single-node junctions; obtaining a constraint condition and an objective function, wherein the objective function indicates a solution objective of a region size of the junction plane of each of the single-node junctions, the constraint condition indicates a constraint condition of the region size, the constraint condition comprises a constraint relationship between bias variables of every two adjacent links in the at least two links, the objective function comprises at least two bias variables, and each of the bias variables indicates a distance condition from each of the single-node junctions to a tangent line of the corresponding link; solving the objective function according to the constraint condition and a road plane width of each of the at least two links to obtain a bias distance of each of the links; and generating the junction plane of each of the single-node junctions based on the road plane width of each of the links and the bias distance of each of the links;

generating a surrounding plane of the composite node junction according to the junction plane of each of the single-node junctions;

integrating the surrounding plane into the road plane to obtain the junction plane of the composite node junction; and

autonomously driving a vehicle based at least in part on the junction plane of the composite node junction.

2 . The method according to claim 1 , wherein the determining the composite node junction comprises:

obtaining road network data of each of the single-node junctions; and

in a case that the road network data of each of the at least two single-node junctions comprises a same composite node junction identification, determining that the at least two single-node junctions form the composite node junction.

3 . The method according to claim 1 , wherein the obtaining the road plane of the composite node junction according to the junction information of the composite node junction comprises:

obtaining road network data of each of the single-node junctions comprised by the composite node junction;

determining at least two links connected to each of the single-node junctions according to the road network data to obtain a plurality of links comprised by the composite node junction;

for each of the links, obtaining corresponding link information comprising at least one of a link grade, a quantity of lanes, and a lane width; determining a link width corresponding to each of the links according to the link information, and widening each of the links according to the corresponding link width to obtain a road plane of each of the links; and

obtaining the road plane of the composite node junction according to the road plane of each of the links.

4 . The method according to claim 1 , wherein the obtaining the constraint condition comprises:

determining included angle information between every two adjacent links according to the road plane width of every two adjacent links and the bias variables of the corresponding links, the included angle information indicating an intersection condition between the respective corresponding tangent lines of the two adjacent links; and

building the constraint condition according to the included angle information between every two adjacent links.

5 . The method according to claim 4 , wherein the road plane of each of the links comprises a road plane left side boundary and a road plane right side boundary, and the building the constraint condition according to the included angle information between every two adjacent links comprises:

obtaining an included angle between a first link and a second link, the first link and the second link being adjacent links in the at least two links;

obtaining a first included angle between the first link and a road plane right side boundary of the first link, a second included angle between the second link and a road plane left side boundary of the second link, and a third included angle between the road plane right side boundary of the first link and the road plane left side boundary of the second link; and

building the constraint condition based on the included angle between the first link and the second link, the first included angle, the second included angle and the third included angle.

6 . The method according to claim 1 , wherein the generating the surrounding plane of the composite node junction according to the junction plane of each of the single-node junctions comprises:

obtaining a first shape point set according to shape points comprised by the junction plane of each of the single-node junctions; and

according to the first shape point set, calculating a minimum convex polygon surrounding all shape points in the first shape point set to obtain the surrounding plane of the composite node junction.

7 . The method according to claim 1 , wherein the integrating the surrounding plane into the road plane to obtain the junction plane of the composite node junction comprises:

determining a road plane boundary of each of the links comprised by the road plane of the composite node junction;

determining an intersection point of the boundary of the surrounding plane of the composite node junction and the road plane boundary to obtain a trim point set formed by trim points of the surrounding plane;

determining every two adjacent trim points in the trim point set; and

performing smoothening treatment between every two adjacent trim points on the surrounding plane to obtain the junction plane of the composite node junction.

8 . The method according to claim 7 , wherein the determining every two adjacent trim points in the trim point set comprises:

determining a second shape point set formed by shape points of the surrounding plane, the shape points having a sequence;

for each of the trim points in the trim point set, calculating a left neighbor shape point and a right neighbor shape point of the trim point in the second shape point set; and

for each of the trim points in the trim point set, performing sequencing according to the corresponding sequence of target shape points, and determining every two adjacent trim points in the trim point set according to a sequencing result, the target shape points being the left neighbor shape points or the right neighbor shape points.

9 . The method according to claim 7 , wherein the performing smoothening treatment between every two adjacent trim points on the surrounding plane comprises:

in a case that the two adjacent trim points are positioned on the road plane boundary of the same link of the surrounding plane, connecting the two adjacent trim points by a straight line; and

in a case that the two adjacent trim points are positioned on the road plane boundaries of different links of the surrounding plane, connecting the two adjacent trim points by a smooth curve.

10 . The method according to claim 9 , wherein the smooth curve is a Bezier curve, and an operation of generating the Bezier curve between the two adjacent trim points comprises:

respectively extending the two adjacent trim points along the road plane boundary where the trim points are located to a direction of the single-node junctions to which the road plane boundary is connected to obtain two control points; and

generating the Bezier curve according to the two adjacent trim points and the two control points.

11 . An apparatus for generating a junction plane of a composite node junction, comprising:

at least one memory and at least one processor, wherein the at least one memory stores computer-readable storage instructions, and the at least one processor is configured, when executing the computer-readable storage instructions, to:

determine the composite node junction comprising at least two single-node junctions according to road network data;

obtain a road plane of the composite node junction according to junction information of the composite node junction;

respectively determine a junction plane of each of the at least two single-node junctions, wherein the respectively determining the junction plane of each of the at least two single-node junctions comprises: for each of the single-node junctions, determining at least two links connected to each of the single-node junctions; obtaining a constraint condition and an objective function, wherein the objective function indicates a solution objective of a region size of the junction plane of each of the single-node junctions, the constraint condition indicates a constraint condition of the region size, the constraint condition comprises a constraint relationship between bias variables of every two adjacent links in the at least two links, the objective function comprises at least two bias variables, and each of the bias variables indicates a distance condition from each of the single-node junctions to a tangent line of the corresponding link; solving the objective function according to the constraint condition and a road plane width of each of the at least two links to obtain a bias distance of each of the links; and generating the junction plane of each of the single-node junctions based on the road plane width of each of the links and the bias distance of each of the links;

generate a surrounding plane of the composite node junction according to the junction plane of each of the single-node junctions;

integrate the surrounding plane into the road plane to obtain the junction plane of the composite node junction; and

autonomously drive a vehicle based at least in part on the junction plane of the composite node junction.

12 . The apparatus according to claim 11 , wherein the at least one processor is further configured to:

obtaining road network data of each of the single-node junctions; and

in a case that the road network data of each of the at least two single-node junctions comprises a same composite node junction identification, determining that the at least two single-node junctions form the composite node junction.

13 . The apparatus according to claim 11 , wherein the at least one processor is further configured to:

obtain road network data of each of the single-node junctions comprised by the composite node junction;

determine at least two links connected to each of the single-node junctions according to the road network data to obtain a plurality of links comprised by the composite node junction;

obtain corresponding link information comprising at least one of a link grade, a quantity of lanes, and a lane width for each of the links, determine a link width corresponding to each of the links according to the link information, and widen each of the links according to the corresponding link width to obtain a road plane of each of the links; and

obtain the road plane of the composite node junction according to the road plane of each of the links.

14 . The apparatus according to claim 11 , wherein the at least one processor is further configured to:

obtain a first shape point set according to shape points comprised by the junction plane of each of the single-node junctions, and according to the first shape point set; and

calculate a minimum convex polygon surrounding all shape points in the first shape point set to obtain the surrounding plane of the composite node junction.

15 . The apparatus according to claim 11 , wherein the at least one processor is further configured to:

determine a road plane boundary of each of the links comprised by the road plane of the composite node junction;

determine an intersection point of the boundary of the surrounding plane of the composite node junction and the road plane boundary to obtain a trim point set formed by trim points of the surrounding plane;

determine every two adjacent trim points in the trim point set; and

perform smoothening treatment between every two adjacent trim points on the surrounding plane to obtain the junction plane of the composite node junction.

16 . The apparatus according to claim 15 , wherein the at least one processor is further configured to:

determine a second shape point set formed by shape points of the surrounding plane, the shape points having a sequence,

calculate a left neighbor shape point and a right neighbor shape point of the trim point in the second shape point set for each of the trim points in the trim point set, and

perform sequencing for each of the trim points in the trim point set according to the corresponding sequence of target shape points, and determine every two adjacent trim points in the trim point set according to a sequencing result, the target shape points being the left neighbor shape points or the right neighbor shape points.

17 . The apparatus according to claim 11 , wherein the at least one processor is further configured to connect the two adjacent trim points by a straight line in a case that the two adjacent trim points are positioned on the road plane boundary of the same link of the surrounding plane, and connect the two adjacent trim points by a smooth curve in a case that the two adjacent trim points are positioned on the road plane boundaries of different links of the surrounding plane.

18 . A non-transitory computer-readable storage medium, storing computer-readable storage instructions, wherein the computer-readable storage instructions, when being executed by at least one processor, cause the at least one processor to perform:

determining a composite node junction comprising at least two single-node junctions according to road network data;

obtaining a road plane of the composite node junction according to junction information of the composite node junction;

respectively determining a junction plane of each of the at least two single-node junctions, wherein the respectively determining the junction plane of each of the at least two single-node junctions comprises: for each of the single-node junctions, determining at least two links connected to each of the single-node junctions; obtaining a constraint condition and an objective function, wherein the objective function indicates a solution objective of a region size of the junction plane of each of the single-node junctions, the constraint condition indicates a constraint condition of the region size, the constraint condition comprises a constraint relationship between bias variables of every two adjacent links in the at least two links, the objective function comprises at least two bias variables, and each of the bias variables indicates a distance condition from each of the single-node junctions to a tangent line of the corresponding link; solving the objective function according to the constraint condition and a road plane width of each of the at least two links to obtain a bias distance of each of the links; and generating the junction plane of each of the single-node junctions based on the road plane width of each of the links and the bias distance of each of the links;

generating a surrounding plane of the composite node junction according to the junction plane of each of the single-node junctions;

integrating the surrounding plane into the road plane to obtain the junction plane of the composite node junction; and

autonomously driving a vehicle based at least in part on the junction plane of the composite node junction.