Method and device for detecting lane conflict in intersection

One or more embodiments of the invention provide an intersection lane conflict detection method and device, and the method comprises the steps: obtaining the identification of a lane line of a virtual lane forming the same road surface of an intersection in a high-precision map, the identifier represents the relative position between the virtual lanes and the passing direction of the virtual lanes; according to the identifiers of the lane lines of the virtual lanes, two virtual lanes which are not allowed to have glands in the virtual lanes on the same road surface of the intersection are divided into a virtual lane group; and for any one of the virtual lane groups, detecting whether the two virtual lanes included in the virtual lane group have glands or not. 本说明书一个或多个实施例提供一种路口内车道冲突检测方法和装置，其中的路口内车道冲突检测方法包括：对于高精地图中的路口，获取构成所述路口中的同一道路面的虚拟车道的车道线的标识，所述标识表征了虚拟车道之间的相对位置以及所述虚拟车道的通行方向；根据所述虚拟车道的车道线的标识，将所述路口的同一道路面的虚拟车道中不允许存在压盖的两条虚拟车道分入一个虚拟车道组；对于任一所述虚拟车道组，检测所述虚拟车道组包括的两条虚拟车道是否存在压盖。