Road turning angle calculation method, device, computer equipment and storage medium

Abstract

The present application relates to a method, device, computer equipment and storage medium for calculating a road steering angle. The method comprises: obtaining the section data of each road section associated with a target road fork; the road section associated with the road fork comprises an entry section and multiple exit sections; detecting the section type of each road section according to the section data of each road section, and the section type of each road section is a flat type or a non-flat type; determining the angle of each road section according to the section type of each road section; calculating the steering angle from the entry section to each exit section according to the angle of the entry section and the angle of each exit section. The embodiment of the present application can solve the technical problem that the steering angle calculated by the traditional angle calculation method is inconsistent with the reality, and make the steering angle more consistent with the angle judgment of the driver's perspective.

Description

Technical Field

[0001] The present application relates to the field of electronic map production, and in particular to a method, device, computer equipment and storage medium for calculating a road turning angle. Background Art

[0002] With the continuous development of social economy, the transportation system is becoming more and more perfect, and the popularity of cars is increasing. At the same time, with the development of mobile Internet technology, map navigation applications are becoming popular, which provides great convenience for people's daily travel. However, traffic roads are also in constant change, and the road data is massive. Many map road data are obtained by vectorizing a large amount of trajectory data. In this process, it is inevitable that some road shapes are inconsistent with the actual street scenes, or even data errors.

[0003] For example Figure 1 , as can be seen from the street view ( Figure 1 Right), this is a fork in the main and auxiliary roads, and when the road is vectorized, a right turn is made at the junction ( Figure 1 Left); For example Figure 2 , it can be seen from the street view that this is a standard intersection, and when the road is vectorized, there is a small corner at the connection. These will bring inconvenience to the calculation of the steering angle, which in turn affects the accuracy of the induction, may affect the user experience, and even cause yaw.

[0004] There are two main existing technical solutions for determining the direction of a road section:

[0005] (1) Use the tangent direction as the direction of the road segment.

[0006] (2) Use weighted directions within a certain distance.

[0007] However, the current solution cannot accurately identify the direction of the road section, which will lead to the inability to calculate the accurate steering angle subsequently, thereby reducing the accuracy of the guidance.

[0008] For example, for the above Figure 1 and Figure 2 In the two examples shown, when the above solution (1) is adopted, Figure 1 The front right in the middle is recognized as a right turn, and Figure 2 The straight and left turns in the above scheme are respectively identified as the right front and the left front; the road section direction identified by the above scheme (2) is more in line with the actual scene than that of scheme (1). Figure 3 In the case shown, the actual turning direction is right turn, and the above solution (2) will identify the road section direction as right front. Figure 1-3The direction of the mark (1) is the direction of the road section identified by the above scheme (1); the direction of the mark (2) is the direction of the road section identified by the above scheme (2). Summary of the invention

[0009] In response to the above-mentioned deficiencies or shortcomings, the present application provides a road steering angle calculation method, device, computer equipment and storage medium. The embodiments of the present application can solve the technical problem that the steering angle calculated by the traditional angle calculation method is inconsistent with the reality, and make the steering angle more consistent with the angle judgment from the driver's perspective.

[0010] The present application provides a method for calculating a road turning angle according to a first aspect. In one embodiment, the method includes:

[0011] Acquire the road segment data of each road segment associated with the target road fork; the road segment associated with the road fork includes an entry road segment and a plurality of exit road segments;

[0012] Detecting the road type of each road section according to the road section data of each road section, wherein the road type of each road section is a flat type or a non-flat type;

[0013] Determine the angle of each road segment according to the road segment type of each road segment;

[0014] The steering angle from the entry segment to each exit segment is calculated based on the angle of the entry segment and the angle of each exit segment.

[0015] In one embodiment, detecting the segment type of each segment according to the segment data of each segment includes:

[0016] Detecting whether each road section contains a flat sub-section according to the road section data of each road section;

[0017] Determine the road segment type of any road segment including a flat sub-segment as a flat type;

[0018] The segment type of any segment that does not include a flat sub-segment is determined as a non-flat segment.

[0019] In one embodiment, detecting whether each road section includes a flat sub-section according to the road section data of each road section includes:

[0020] Splitting each road section into a number of sub-road sections according to the road section data of each road section;

[0021] Check whether each sub-segment contained in each road segment is a flat sub-segment;

[0022] The method further includes: if any sub-section meets the target preset inspection condition, determining that the sub-section belongs to a flat sub-section;

[0023] Target preset inspection conditions include each of the following:

[0024] The distance between the starting point and the road fork is less than the preset distance threshold;

[0025] The length is greater than the preset length threshold;

[0026] The internal angle change is less than the preset angle change threshold.

[0027] In one embodiment, the target road fork is any road fork in the electronic map;

[0028] The target preset inspection condition refers to the preset inspection condition corresponding to the road section type of the target road fork.

[0029] In one embodiment, determining the angle of each road segment according to the road segment type of each road segment includes:

[0030] Determine the angle of each flat road section according to the vector direction of the flat sub-road section contained in each flat road section; the flat road section refers to a road section with a flat road section type;

[0031] The angle of each non-gentle road section is determined according to the direction of the vector tangent at the starting point of each non-gentle road section; the non-gentle road section refers to a road section whose road section type is non-gentle.

[0032] In one embodiment, the turning angle from the entry segment to each exit segment is calculated according to the angle of the entry segment and the angle of each exit segment, including:

[0033] The steering angle from the entry segment to each exit segment is calculated according to the following formula;

[0034] The turning angle from the entry section to the Nth exit section = the angle of the Nth exit section - the angle of the entry section.

[0035] In one embodiment, the method further comprises:

[0036] Navigation guidance data from the entry section to each exit section is generated according to the steering angle from the entry section to each exit section.

[0037] According to a second aspect, the present application provides a road steering angle calculation device. In one embodiment, the device includes:

[0038] A road section data acquisition module, used to acquire the road section data of each road section associated with the target road fork; the road section associated with the road fork includes an entry road section and multiple exit road sections;

[0039] A road section type detection module is used to detect the road section type of each road section according to the road section data of each road section, and the road section type of each road section is a flat type or a non-flat type;

[0040] A road section angle determination module, used to determine the angle of each road section according to the road section type of each road section;

[0041] The steering angle calculation module is used to calculate the steering angle from the entry section to each exit section according to the angle of the entry section and the angle of each exit section.

[0042] According to a third aspect, the present application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above method embodiments when executing the computer program.

[0043] According to a fourth aspect, the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of an embodiment of any of the above methods are implemented.

[0044] In an embodiment of the present application, by acquiring the section data of each section associated with the target road fork; the sections associated with the road fork include an entry section and multiple exit sections; the section type of each section is detected according to the section data of each section, and the section type of each section is a flat type or a non-flat type; the angle of each section is determined according to the section type of each section; the steering angle from the entry section to each exit section is calculated according to the angle of the entry section and the angle of each exit section, which can solve the technical problem that the steering calculated by the traditional angle calculation method is inconsistent with the reality, and make the steering angle more consistent with the angle judgment from the driver's perspective. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is an example of a comparison between a vector map and a street view;

[0046] Figure 2 Here is another example comparing vectorized maps and Street View;

[0047] Figure 3 Here is another example of comparing vector maps and street views;

[0048] Figure 4 A schematic diagram of a flow chart of a method for calculating a road turning angle in one embodiment;

[0049] Figure 5 A schematic diagram of steering angle calculation in one embodiment;

[0050] Figure 6 is a schematic diagram of internal angle changes in one embodiment;

[0051] Figure 7 is a schematic diagram of a flat sub-section in one embodiment;

[0052] Figure 8 is a structural block diagram of a road steering angle calculation device in one embodiment;

[0053] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] The present application provides a method for calculating a road turning angle. In one embodiment, the method for calculating a road turning angle includes: Figure 4 The steps shown below are combined Figure 4 This method is described in detail.

[0056] S110: Obtaining the road segment data of each road segment associated with the target road fork, wherein the road segment associated with the road fork includes an entry road segment and a plurality of exit road segments.

[0057] In this embodiment, a road segment, which may also be called a link, is a basic unit in map vector road data, and it represents an actual position through a sequence of two or more coordinate points.

[0058] The target road fork refers to any road fork in the electronic map.

[0059] In this embodiment, the road section before the road fork is called the entry section according to the traveling direction of the road, and the road section after the road fork is called the exit section (also called the exit section). It can be understood that the exit section has at least two sections, so as to form a road fork with the entry section.

[0060] S120: Detecting the section type of each road section according to the section data of each road section.

[0061] In this embodiment, the road section type of each road section is a flat type or a non-flat type. A road section with a flat type may be called a flat type road section, and a road section with a non-flat type may be called a non-flat type road section.

[0062] Existing solutions for determining the direction of a road section, such as the solutions (1) and (2) mentioned above, all use the same method to determine the direction of each road section in a vectorized map. As can be seen from the background content in the previous article, many map road data are obtained by vectorizing a large amount of trajectory data. In this process, it is inevitable that some road shapes are inconsistent with the actual street scenes, or even data errors occur. Therefore, if the direction of each road section in the problematic vectorized map is directly identified, the identification result will also be wrong. For details, please refer to the content of the background technology section. To this end, after repeated experiments, the present application classifies the road sections, that is, the road sections are divided into flat sections and non-flat sections according to whether the road sections contain flat sub-sections, and corresponding methods for determining the direction of the road sections are set for different road section types.

[0063] Before the direction of a road section needs to be identified, the road section type of the road section is first detected, and then the road section direction of the road section is identified using a method corresponding to the road section type, so that the identified road section direction is consistent with the actual street view. When the identified road section direction is consistent with the actual street view, it can be guaranteed that the subsequently calculated road section angle and steering angle are also accurate.

[0064] S130: Determine the angle of each road section according to the road section type of each road section.

[0065] In this embodiment, the angle of each road section is determined by using a preset method for determining the direction of the road section corresponding to the road section type.

[0066] S140: Calculate a turning angle from the entry section to each exit section according to the angle of the entry section and the angle of each exit section.

[0067] The turning angle refers to the turning angle from one road section to another road section.

[0068] Specifically, the turning angle from the entry section to each exit section is calculated according to the angle of the entry section and the angle of each exit section, including:

[0069] The steering angle from the entry segment to each exit segment is calculated according to the following formula;

[0070] The turning angle from the entry section to the Nth exit section = the angle of the Nth exit section - the angle of the entry section.

[0071] For example, Figure 4 As shown, the direction of the entry edge (i.e., the entry section) is 0, and the exit direction (i.e., the exit section) is 45. The turning angle can be calculated to be 45. The value range of the direction is [0 degrees, 360 degrees].

[0072] Turning process: first calculate the angle of entering the road, then calculate the angle of exiting the road, and the difference between the two angles (i.e. the rotation angle) determines the direction. For example, if the difference is 0 degrees, it is a standard straight line; if the difference is 180 degrees, it is a U-turn; if the difference is 90 degrees, it is a left turn; if the difference is 270 degrees, it is a right turn.

[0073] This embodiment obtains the section data of each section associated with the target road fork; the sections associated with the road fork include an entry section and multiple exit sections; the section type of each section is detected according to the section data of each section, and the section type of each section is a flat type or a non-flat type; the angle of each section is determined according to the section type of each section; the steering angle from the entry section to each exit section is calculated according to the angle of the entry section and the angle of each exit section, which can solve the technical problem that the steering angle calculated by the traditional angle calculation method is inconsistent with the reality, and make the steering angle more consistent with the angle judgment from the driver's perspective.

[0074] In one embodiment, detecting the segment type of each segment according to the segment data of each segment includes:

[0075] Detecting whether each road section contains a flat sub-section according to the road section data of each road section;

[0076] Determine the road segment type of any road segment including a flat sub-segment as a flat type;

[0077] The segment type of any segment that does not include a flat sub-segment is determined as a non-flat segment.

[0078] In this embodiment, for any road section, if it contains a flat sub-section, then it can be determined that the corresponding road section type is a flat type, that is, it is a flat road section; similarly, if it does not contain a flat sub-section, then it can be determined that the corresponding road section type is a non-flat type, that is, it is a non-flat road section.

[0079] Furthermore, detecting whether each road section contains a flat sub-section according to the road section data of each road section includes:

[0080] Splitting each road section into a number of sub-road sections according to the road section data of each road section;

[0081] Check whether each sub-segment contained in each road segment is a flat sub-segment;

[0082] In this embodiment, each road section can be divided into several sub-sections according to its shape. For example, if a road section includes a straight line portion and an arc portion, the straight line portion in the road section can be divided into a sub-section, and the arc portion can be divided into a sub-section. It should be noted that a road section can contain only one sub-section, that is, the sub-section of the road section is the road section itself. For example, the road section is a straight road, or a winding bridge, etc.

[0083] The section data of each section may include the length and shape of the section, the position coordinates of each point in the section, etc. The length between any two points in the section may be determined according to the position coordinates of the two points.

[0084] Correspondingly, the method further includes: if any sub-section meets the target preset inspection condition, then determining that the sub-section belongs to a flat sub-section.

[0085] Among them, the target preset inspection conditions include each of the following:

[0086] (1) The distance between the starting point (the starting point of the sub-section) and the road fork is less than the preset distance threshold;

[0087] (2) The length (referring to the length of the sub-section) is greater than the preset length threshold;

[0088] (3) The internal angle change is less than the preset angle change threshold.

[0089] like Figure 6 As shown in the figure, when the starting and ending points are fixed, the angle in the figure is called the internal angle change. This angle is the angle between the tangent line at the starting point of the section and the tangent line at the end of the section. Among them, the direction of the section is from the lower left to the right, the direction of the tangent line at the starting point is pointing to the upper right, and the direction of the tangent line at the end point is pointing to the right.

[0090] Furthermore, the preset distance threshold, the preset length threshold, and the preset angle change threshold can be set according to specific scenarios, and this embodiment does not limit this. For example, the target preset inspection conditions may include the following:

[0091] (1) The starting point is within 50m from the road fork;

[0092] (2) Length is more than 50m;

[0093] (3) The internal angle change is less than 15 degrees.

[0094] See also Figure 7 , the figure shows a road section ABC, which contains sub-sections AB and BC. After inspection, it is found that sub-section AB meets the above inspection conditions. Therefore, it can be determined that sub-section AB belongs to a flat sub-section, and then it can be determined that section ABC is a flat section.

[0095] Furthermore, the target preset inspection condition refers to a preset inspection condition corresponding to the road section type of the target road fork.

[0096] That is to say, when identifying a flat sub-section, the preset distance threshold, preset length threshold, and preset angle change threshold in the inspection conditions can be further subdivided and processed according to the section type of the road fork. Among them, the section type of the road fork can include but is not limited to main and auxiliary roads, ramps, and intersections with separated upper and lower lines. For main and auxiliary roads or low-level roads, the preset thresholds in the inspection conditions can be adjusted to be more stringent, such as shorter distances and smaller angles; while for ramps, the conditions can be looser, and can be adjusted according to some actual scenarios.

[0097] In one embodiment, determining the angle of each road segment according to the road segment type of each road segment includes:

[0098] Determine the angle of each flat road section according to the vector direction of the flat sub-road section contained in each flat road section; the flat road section refers to a road section with a flat road section type;

[0099] The angle of each non-gentle road section is determined according to the direction of the vector tangent at the starting point of each non-gentle road section; the non-gentle road section refers to a road section whose road section type is non-gentle.

[0100] Among them, after the road section type of the road section is identified, the road section direction (also referred to as direction) of the road section is determined in a manner corresponding to the road section type. If the road section type of the road section is a flat type, the vector direction of the flat sub-section in the road section is used as the angle of the road section; if the road section type of the road section is a non-flat type, the vector tangent direction at the starting point of the road section is used as the angle of the road section. In other words, for a road section with a non-linear shape, if it contains a flat sub-section, the direction of the flat sub-section contained therein is used as the direction of the road section. If it does not contain a flat sub-section, for example, the road section is a winding bridge, the tangent direction at the starting point of the road section is used as the direction of the road section.

[0101] The road section directions are explained below.

[0102] We know that a straight road must have a direction, such as due north, that is, from south to north (the corresponding angle is 0 degrees), due east (the corresponding angle is 90 degrees), due south (the corresponding angle is 180 degrees), due west (the corresponding angle is 270 degrees), and if it is northeast, then the corresponding angle is 45 degrees. In short, the direction is calculated clockwise from north zero.

[0103] The direction of the flat sub-segment is to cut out the flat part of the entire road segment, regard it as a straight road, and then use its vector direction as the angle of the entire road segment.

[0104] If there is no flat section in a road section (such as a winding bridge), the tangent direction at the starting point is used as the angle of the road section. The simple calculation of the tangent direction is the tangent of the arc formed by the first point and the second point of the road section at the first point. Figure 7 For example, if the starting point of the road section in the figure is the lower left corner, then the direction of the tangent from the lower left corner to the upper right corner in the figure is the direction of the road section.

[0105] In one embodiment, the method further comprises: generating navigation guidance data from the entry section to each exit section according to a steering angle from the entry section to each exit section.

[0106] Based on the accurate steering angle determined previously, corresponding navigation guidance data can be generated for the road fork. Among them, navigation guidance data, also known as route guidance, refers to all images and voice prompts used to guide users during the navigation process.

[0107] Figure 4 FIG. 1 is a flow chart of a method for calculating a road turning angle in one embodiment. It should be understood that although Figure 4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 4 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0108] Based on the same inventive concept, the present application also provides a road steering angle calculation device.

[0109] In this embodiment, if Figure 8 As shown, the road steering angle calculation device includes the following modules:

[0110] The road section data acquisition module 110 is used to acquire the road section data of each road section associated with the target road fork; the road section associated with the road fork includes an entry road section and multiple exit road sections;

[0111] A road section type detection module 120, used for detecting the road section type of each road section according to the road section data of each road section, and the road section type of each road section is a flat type or a non-flat type;

[0112] A road section angle determination module 130, for determining the angle of each road section according to the road section type of each road section;

[0113] The steering angle calculation module 140 is used to calculate the steering angle from the entry section to each exit section according to the angle of the entry section and the angle of each exit section.

[0114] In one embodiment, the road segment type checking module includes:

[0115] A detection submodule, used for detecting whether each road section contains a flat sub-section according to the road section data of each road section;

[0116] The road segment type determination submodule is used to determine the road segment type of any road segment that contains a flat sub-segment as a flat type, and to determine the road segment type of any road segment that does not contain a flat sub-segment as a non-flat type.

[0117] In one embodiment, the detection submodule includes:

[0118] A splitting unit, used for splitting each road section into a plurality of sub-road sections according to the road section data of each road section;

[0119] A checking unit, used for checking whether each sub-section contained in each road section is a flat sub-section;

[0120] Correspondingly, the road section type inspection module further includes a determination submodule. The determination submodule is used to determine that any subsection is a flat subsection when the subsection meets the target preset inspection condition.

[0121] Furthermore, the target preset inspection conditions include each of the following:

[0122] (1) The distance between the starting point and the road fork is less than the preset distance threshold;

[0123] (2) The length is greater than the preset length threshold;

[0124] (3) The internal angle change is less than the preset angle change threshold.

[0125] Furthermore, in one embodiment, the target road fork refers to any road fork in the electronic map; the target preset inspection condition refers to a preset inspection condition corresponding to the road section type of the target road fork.

[0126] In one embodiment, the road segment angle determination module includes:

[0127] A first road section angle determination submodule is used to determine the angle of each flat road section according to the vector direction of the flat sub-road section contained in each flat road section; a flat road section refers to a road section with a flat road section type;

[0128] The second road section angle determination submodule is used to determine the angle of each non-gentle road section according to the vector tangent direction at the starting point of each non-gentle road section; a non-gentle road section refers to a road section of a non-gentle road section type.

[0129] In one embodiment, the steering angle calculation module is specifically used to calculate the steering angle from the entry section to each exit section according to the following formula. The formula is as follows:

[0130] The turning angle from the entry section to the Nth exit section = the angle of the Nth exit section - the angle of the entry section.

[0131] In one embodiment, the device further comprises an induced data generating module.

[0132] The guidance data generation module is used to generate navigation guidance data from the entry section to each exit section according to the turning angle from the entry section to each exit section.

[0133] The specific definition of the road steering angle calculation device can be found in the definition of the road steering angle calculation method mentioned above, which will not be repeated here. Each module in the above-mentioned road steering angle calculation device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0134] In one embodiment, a computer device is provided, whose internal structure diagram can be as follows: Fig. 9 shown.

[0135] The computer device includes a processor, a memory, a network interface and a database connected through a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as road section data, and the specific stored data can also refer to the definition in the above method embodiment. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a road steering angle calculation method is implemented.

[0136] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0137] This embodiment also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps provided in any of the above method embodiments are implemented.

[0138] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps provided in any of the above method embodiments are implemented.

[0139] Those skilled in the art can understand that all or part of the processes in the above method embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0140] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0141] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for calculating a road turning angle, characterized in that: The method comprises: Acquire the road segment data of each road segment associated with the target road fork; the road segment associated with the road fork includes an entry road segment and a plurality of exit road segments; Detecting the road type of each road section according to the road section data of each road section, wherein the road type of each road section is a flat type or a non-flat type; Determine the angle of each road segment according to the road segment type of each road segment; Calculate the turning angle from the entry section to each of the exit sections according to the angle of the entry section and the angle of each of the exit sections; The detecting the section type of each section according to the section data of each section includes: Detecting whether each road section contains a flat sub-section according to the road section data of each road section; Determine the road segment type of any one of the road segments including the flat sub-segment as a flat type; Determine the road segment type of any road segment that does not include a flat sub-segment as a non-flat type; The step of detecting whether each road section includes a flat sub-section according to the road section data of each road section comprises: Splitting each road section into a number of sub-road sections according to the road section data of each road section; Check whether each sub-segment contained in each road segment is a flat sub-segment; The method further comprises: if any of the sub-sections meets the target preset inspection condition, determining that the sub-section belongs to a flat sub-section; The target preset inspection conditions include each of the following: The distance between the starting point and the road fork is less than a preset distance threshold; The length is greater than the preset length threshold; The internal angle change is less than the preset angle change threshold; Determining the angle of each road section according to the road section type of each road section includes: Determine the angle of each flat road section according to the vector direction of the flat sub-road section contained in each flat road section; the flat road section refers to the road section of which the road section type is flat; The angle of each non-gentle road section is determined according to the direction of the vector tangent at the starting point of each non-gentle road section; the non-gentle road section refers to the road section whose road section type is non-gentle.

2. The method according to claim 1, characterized in that The target road fork refers to any road fork in the electronic map; The target preset inspection condition refers to a preset inspection condition corresponding to the road section type of the target road fork; the road section type of the target road fork includes main and auxiliary roads, ramps, and intersections with separated upper and lower lanes.

3. The method according to claim 1, characterized in that The calculating the turning angle from the entry section to each of the exit sections according to the angle of the entry section and the angle of each of the exit sections comprises: Calculate the turning angle from the entry section to each of the exit sections according to the following formula; The turning angle from the entry section to the Nth exit section = the angle of the Nth exit section - the angle of the entry section.

4. The method according to claim 1, characterized in that The method further comprises: Navigation guidance data from the entry section to each of the exit sections is generated according to the steering angle from the entry section to each of the exit sections.

5. A road turning angle calculation device, characterized in that: The device comprises: A road section data acquisition module, used to acquire the road section data of each road section associated with the target road fork; the road section associated with the road fork includes an entry road section and a plurality of exit road sections; A road section type detection module, used for detecting the road section type of each road section according to the road section data of each road section, wherein the road section type of each road section is a flat type or a non-flat type; A road section angle determination module, used to determine the angle of each road section according to the road section type of each road section; A steering angle calculation module, used for calculating the steering angle from the entry section to each of the exit sections according to the angle of the entry section and the angle of each of the exit sections; The detecting the section type of each section according to the section data of each section includes: Detecting whether each road section contains a flat sub-section according to the road section data of each road section; Determine the road segment type of any one of the road segments including the flat sub-segment as a flat type; Determine the road segment type of any road segment that does not include a flat sub-segment as a non-flat type; The step of detecting whether each road section includes a flat sub-section according to the road section data of each road section comprises: Splitting each road section into a number of sub-road sections according to the road section data of each road section; Check whether each sub-segment contained in each road segment is a flat sub-segment; If any of the sub-sections meets the target preset inspection condition, the sub-section is determined to be a flat sub-section; The target preset inspection conditions include each of the following: The distance between the starting point and the road fork is less than a preset distance threshold; The length is greater than the preset length threshold; The internal angle change is less than the preset angle change threshold; Determining the angle of each road section according to the road section type of each road section includes: Determine the angle of each flat road section according to the vector direction of the flat sub-road section contained in each flat road section; the flat road section refers to the road section of which the road section type is flat; The angle of each non-gentle road section is determined according to the direction of the vector tangent at the starting point of each non-gentle road section; the non-gentle road section refers to the road section whose road section type is non-gentle.

6. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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