Methods, devices, equipment, and storage media for adjusting road shape

Abstract

This disclosure provides a method, apparatus, device, and storage medium for adjusting road shape, relating to the field of computer technology, and particularly to the fields of electronic maps, intelligent transportation, and autonomous driving technology. The specific implementation involves: selecting the road to be adjusted from the original road network based on its starting and ending points; determining a target vehicle trajectory that matches the road to be adjusted; and determining the target road shape based on the target vehicle trajectory, which serves as the shape adjustment result for the road to be adjusted. The embodiments of this disclosure can improve the efficiency and accuracy of road shape adjustment.

Description

Technical Field

[0001] This disclosure relates to the field of computer technology, and more particularly to the fields of electronic maps, intelligent transportation and autonomous driving technology, specifically to a method, apparatus, electronic device and computer-readable storage medium for adjusting road shape. Background Technology

[0002] With the continuous development of information technology, electronic maps have gradually become an indispensable tool in people's daily lives. In order to provide users with accurate information, high-precision maps are especially the key to realizing autonomous driving and intelligent transportation.

[0003] Roads in electronic maps can be drawn using electronic map drawing tools. If the road shape is not drawn accurately, it needs to be adjusted. Summary of the Invention

[0004] This disclosure provides a method, apparatus, device, and storage medium for adjusting the shape of a road.

[0005] According to one aspect of this disclosure, a method for adjusting the shape of a road is provided, comprising:

[0006] Based on the starting and ending points of the roads to be adjusted, select the roads to be adjusted from the original road network;

[0007] Determine the target vehicle trajectory that matches the road to be adjusted;

[0008] The shape of the target road is determined based on the trajectory of the target vehicle, and this shape is used as the result of the road shape adjustment.

[0009] According to another aspect of this disclosure, a road shape adjustment device is provided, comprising:

[0010] The road to be adjusted module is used to select the road to be adjusted from the original road network based on the road's starting point and ending point.

[0011] The target vehicle trajectory module is used to determine the target vehicle trajectory that matches the road to be adjusted; the shape adjustment module is used to determine the shape of the target road based on the target vehicle trajectory, as the shape adjustment result of the road to be adjusted.

[0012] According to another aspect of this disclosure, an electronic device is provided, comprising:

[0013] At least one processor; and

[0014] A memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the road shape adjustment method provided in any embodiment of this disclosure.

[0016] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are used to cause the computer to perform a road shape adjustment method provided in any embodiment of this disclosure.

[0017] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the method for adjusting the road shape provided in any embodiment of this disclosure.

[0018] According to the technology disclosed herein, the efficiency and accuracy of road shape adjustment can be improved.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0020] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0021] Figure 1a This is a schematic diagram of a road shape adjustment method provided according to an embodiment of the present disclosure;

[0022] Figure 1b This is a schematic diagram of a road to be adjusted according to an embodiment of this disclosure;

[0023] Figure 1c This is a schematic diagram of a target road shape provided according to an embodiment of the present disclosure;

[0024] Figure 2a This is a schematic diagram of another method for adjusting the road shape according to an embodiment of the present disclosure;

[0025] Figure 2b This is a schematic diagram illustrating the selection of the starting and ending points of a road to be adjusted, according to an embodiment of this disclosure.

[0026] Figure 3a This is a schematic diagram of yet another method for adjusting the shape of a road according to an embodiment of the present disclosure;

[0027] Figure 3b This is a schematic diagram of a trajectory line provided according to an embodiment of the present disclosure;

[0028] Figure 3c This is a schematic diagram of a new road shape provided according to an embodiment of the present disclosure;

[0029] Figure 3d This is a schematic diagram of a target road shape provided according to an embodiment of the present disclosure;

[0030] Figure 4 This is a schematic diagram of a road shape adjustment device according to an embodiment of the present disclosure;

[0031] Figure 5 This is a block diagram of an electronic device used to implement the road shape adjustment method of the embodiments of this disclosure. Detailed Implementation

[0032] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0033] The solution provided by the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0034] Figure 1a This is a schematic diagram of a road shape adjustment method according to an embodiment of the present disclosure. This embodiment is applicable to situations where the shape of roads in an original road network needs to be adjusted. The method can be executed by a road shape adjustment device, which can be implemented in hardware and / or software and can be configured in an electronic device. (Reference) Figure 1a The method specifically includes the following:

[0035] S110. Select the road to be adjusted from the original road network based on the starting point and ending point of the road to be adjusted.

[0036] S120. Determine the target vehicle trajectory that matches the road to be adjusted;

[0037] S130. Determine the shape of the target road based on the trajectory of the target vehicle, and use it as the shape adjustment result of the road to be adjusted.

[0038] The original road network can be drawn using electronic map drawing tools. The original road network can include at least two road links and road node connections between adjacent road links, as well as the topological relationships between road links. The starting and ending points of the roads to be adjusted can be manually determined by map operators. Specifically, manually selected starting and ending points can be obtained, and roads to be adjusted can be selected from the original road network based on these points. It should be noted that the roads to be adjusted can include at least one road link or at least two road links. The starting point of a road can be the endpoint of the first road link or located within the first road link without being an endpoint; similarly, the starting and ending points can be the endpoints of the last road link or located within the last road link without being endpoints.

[0039] In this embodiment, at least one candidate vehicle trajectory can also be obtained, which can be acquired by collecting data from the actual driving of the vehicle on the road. For ease of description, the location points in the road to be adjusted can be called shape points, and the collection points in the vehicle trajectory can be called trajectory points. By matching the shape points in the road to be adjusted with the trajectory points in the candidate vehicle trajectories, and based on the matching relationship, a target vehicle trajectory that matches the road to be adjusted is selected from the candidate vehicle trajectories.

[0040] The target road shape is the shape adjustment result of the road to be adjusted. Specifically, the road shape can also be adjusted based on the target vehicle trajectory to obtain the target road shape, and this target road shape can be used as the new shape of the road to be adjusted. Figure 1b and Figure 1c These are, respectively, a schematic diagram of a road to be adjusted and a schematic diagram of the target road shape provided according to embodiments of this disclosure, for reference. Figure 1b The road to be adjusted, R0, may include four road segments, and the target vehicle trajectory T may intersect with the road to be adjusted, R0; (Reference) Figure 1c The target road shape R1, determined by road shape adjustment, also includes four road segments, where N is the road segment node.

[0041] By determining the road to be adjusted based on its starting and ending points, and obtaining the target vehicle trajectory based on the matching relationship between the road to be adjusted and the candidate vehicle trajectories, the shape of the target road is determined based on the target vehicle trajectory. This results in the shape adjustment of the road to be adjusted. Operators only need to determine the starting and ending points to automate the road shape adjustment process. During the adjustment process, such as determining the road to be adjusted and the target vehicle trajectory, no manual operation is required, thus reducing manual labor and improving the efficiency of road shape adjustment. Furthermore, compared to manually dragging a small number of shape points on the road to be adjusted one by one, adjusting the road based on the target vehicle trajectory increases the range of shape points covered by the adjustment operation, improving the accuracy of the road shape adjustment.

[0042] In one optional implementation, after determining the target road shape based on the target vehicle trajectory as the shape adjustment result of the road to be adjusted, the method further includes: obtaining the original position information of the road elements in the road to be adjusted; and drawing the road elements in the target road shape based on the original position information.

[0043] Among them, road elements can be map elements on the road to be adjusted, such as pedestrian crossings, no-stopping zones, and ground arrows. Especially when the electronic map is a high-precision map, which is key to realizing autonomous driving and intelligent transportation, it has rich road element data information, which can help vehicles anticipate complex road information, such as slope, curvature, and heading, and better avoid potential risks.

[0044] In this embodiment of the disclosure, the target position information of the road to be adjusted within the target road shape can be determined based on the original position information of the road elements within the road to be adjusted. For example, the projection point of the original position information on the target road shape can be determined, and the projection point can be used as the target position information. The road elements are then drawn within the target road shape based on the target position information. After the road to be adjusted is reshaped to obtain the target road shape, the target position information of the road elements within the target road shape can also be determined, thereby accurately drawing the road elements.

[0045] The technical solution of this disclosure improves the efficiency of road shape adjustment by automatically adjusting the road shape after obtaining the starting and ending points of the road to be adjusted. Furthermore, by adjusting the road to be adjusted based on the target vehicle trajectory, the range of shape points covered by the adjustment operation can be increased, thereby improving the accuracy of road shape adjustment.

[0046] Figure 2aThis is a schematic diagram of another method for adjusting the road shape according to an embodiment of this disclosure. This embodiment is an optional solution proposed based on the above embodiments. See also Figure 2a The method for adjusting the road shape provided in this embodiment includes:

[0047] S210. Obtain the target reference route selected from the candidate reference routes;

[0048] S220. Determine the area to be adjusted based on the target reference route;

[0049] S230. Display the area to be adjusted;

[0050] S240. Obtain the starting point and ending point of the selected road to be adjusted in the area to be adjusted;

[0051] S250. Select the road to be adjusted from the original road network based on the starting point and ending point of the road to be adjusted.

[0052] S260. Determine the target vehicle trajectory that matches the road to be adjusted;

[0053] S270. Determine the shape of the target road based on the trajectory of the target vehicle, and use it as the shape adjustment result of the road to be adjusted.

[0054] In this embodiment of the disclosure, the candidate reference route can be a route with preliminary road shape adjustment results, that is, a route with road shape adjustment requirements. Specifically, based on preset preliminary adjustment rules, the road shape in the road network can be coarsely adjusted to obtain the shape adjustment results of some roads, which can be used as candidate reference routes. It should be noted that the length of the candidate reference route can be shorter than the length of the corresponding road segment. For example, a candidate reference route can be a section of a road segment.

[0055] In this embodiment of the disclosure, candidate reference routes can be displayed for staff to select from, and the target reference route selected by the staff from the candidate reference routes can be obtained. Figure 2b This is a schematic diagram illustrating the selection of the start and end points of a road to be adjusted, according to an embodiment of this disclosure. (Refer to...) Figure 2b You can select a target reference route (GPS). The target reference route can be matched with the original road network to obtain the area to be adjusted, which can then be displayed. The system can also retrieve the road start point (Ps) and road end point (Pe) of the roads selected by staff within this area. For example, staff can select the road start point (Ps) and road end point (Pe) to be adjusted based on the matching relationship between the target reference route (GPS) and the original road network.

[0056] By pre-obtaining candidate reference routes for staff to select a target reference route from, and displaying the area to be adjusted to which the target reference route belongs, staff can select the starting and ending points of the road to be adjusted within the area. This facilitates the location of the road to be adjusted, simplifies staff operations, improves the efficiency of determining the starting and ending points of the road, and thus improves the efficiency of road shape adjustment.

[0057] In one alternative implementation, selecting a road to be adjusted from the original road network based on the road start and road end points includes: performing route planning based on the original road network and the selected road start and road end points to obtain the road to be adjusted; displaying the road to be adjusted; determining a new road start and / or a new road end point based on the user's adjustment operation on the selected road start and / or road end point; and re-performing route planning based on the new road start and / or the new road end point to reselect the road to be adjusted.

[0058] In this embodiment, a path from the starting point to the ending point of a road can be selected from the original road network based on path planning rules, such as the shortest path rule or the rule of minimizing the number of road segments. This path is then designated as the road to be adjusted. The road to be adjusted is also displayed so that staff can determine if it meets the road shape adjustment requirements. If not, the starting point and / or ending point of the road can be adjusted, and a new road to be adjusted can be selected based on the new starting point and / or the new ending point. For example, the path distance between the new starting point and the ending point can be reduced, especially in complex road scenarios such as roads with many curves. Staff can obtain new starting points and / or new ending points by sliding the starting point and / or the ending point. If the road to be adjusted meets the road shape adjustment requirements, the trajectory of the target vehicle can be determined, and the target road shape can be determined based on the trajectory. By automatically planning the road to be adjusted based on the starting and ending points through path planning, the efficiency of determining the road to be adjusted can be improved. By displaying the road to be adjusted, and even when the road to be adjusted does not meet the road shape adjustment requirements, it also supports determining new starting points and / or new ending points, which improves the flexibility and accuracy of determining the road to be adjusted, thereby improving the precision of road shape adjustment.

[0059] In one optional implementation, determining the target vehicle trajectory that matches the road to be adjusted includes: determining the projection distance from a shape point in the road to be adjusted to a candidate vehicle trajectory; and selecting the target vehicle trajectory that matches the road to be adjusted from the candidate vehicle trajectories based on the projection distance.

[0060] In this embodiment, the road to be adjusted can be matched with candidate vehicle trajectories based on vehicle trajectory recommendation rules. Specifically, for each candidate vehicle trajectory, the projected roads from each shape point in the road to be adjusted to the candidate vehicle trajectory can be determined, thereby obtaining the sum of distances from the road to be adjusted to the candidate vehicle trajectory; the sums of distances corresponding to each candidate vehicle trajectory are compared, and the candidate vehicle trajectory with the smaller sum of distances is selected as the target vehicle trajectory. By automatically matching the road to be adjusted with the candidate vehicle trajectories, the matching efficiency can be improved, and the accuracy of the target vehicle trajectory can also be improved. It should be noted that the matching method between the road to be adjusted and the candidate vehicle trajectory in this embodiment is not specifically limited. For example, the target vehicle trajectory can also be selected based on the collection time of the candidate vehicle trajectories within a certain range of the road to be adjusted.

[0061] In one alternative implementation, determining the target vehicle trajectory that matches the road to be adjusted further includes: displaying the selected target vehicle trajectory; and obtaining the target vehicle trajectory that the user reselects from the candidate vehicle trajectories based on the user's adjustment operation on the target vehicle trajectory.

[0062] In this embodiment, the target vehicle trajectory can be displayed to staff, who can then determine whether the trajectory meets the road shape adjustment requirements. This embodiment also provides a manual trajectory selection mode, allowing staff to manually select the target vehicle trajectory from candidate trajectories if the trajectory does not meet the road shape adjustment requirements. If the trajectory meets the requirements, the target road shape can be determined based on the target vehicle trajectory. By providing a manual trajectory selection mode, the flexibility and accuracy of the target vehicle trajectory can be improved.

[0063] The technical solution of this disclosure improves the efficiency of road shape adjustment by automatically planning the path to be adjusted based on the starting and ending points of the road and automatically matching the road to be adjusted with the candidate vehicle trajectory. It also supports manual adjustment of the starting and ending points of the road and provides a manual selection trajectory mode, which can further improve the flexibility and accuracy of road shape adjustment.

[0064] Figure 3a This is a schematic diagram of another method for adjusting the road shape according to an embodiment of this disclosure. This embodiment is an optional solution proposed based on the above embodiments. See also Figure 3a The method for adjusting the road shape provided in this embodiment includes:

[0065] S310. Select the road to be adjusted from the original road network based on the starting point and ending point of the road to be adjusted.

[0066] S320. Determine the target vehicle trajectory that matches the road to be adjusted;

[0067] S330. Fit the trajectory points in the target vehicle trajectory to obtain the trajectory line;

[0068] S340. Based on the starting point, ending point and segment nodes of the road to be adjusted, the trajectory line is divided into segments to obtain a new road shape;

[0069] S350. The first road segment before the starting point and the last road segment after the ending point of the road in the road to be adjusted are spliced ​​together to the new road shape to obtain the target road shape.

[0070] Figures 3b-3d These are schematic diagrams illustrating a trajectory line, a new road shape, and a target road shape according to embodiments of this disclosure. (Reference) Figure 3b It can perform curve fitting on trajectory points in the target vehicle's trajectory, and can perform thinning, smoothing, and other processing on the curve fitting results to obtain the trajectory line Lt; combined with Figure 3b and Figure 3c The trajectory line Lt can be segmented according to road division rules. Specifically, based on the road start point Ps and the road end point Pe, the trajectory line Lt can be divided into the path before the start point, the path after the end point, and the path between the start and end points; furthermore, based on the road segment nodes N in the road to be adjusted, the path between the start and end points can be segmented to obtain a new road shape. And, refer to... Figure 3d When the start and end points of the road to be adjusted are not the endpoints of road segments, the first road segment S1 before the start point of the road to be adjusted can be spliced ​​to the beginning of the new road shape, and the last road segment E1 after the end point of the road to be adjusted can be spliced ​​to the end of the new road shape. By fitting trajectory points, dividing the trajectory lines into segments, and supplementing the first and last road segments, the shape of the road to be adjusted can be finely adjusted according to the trajectory of the target vehicle, which can further improve the accuracy of the target road shape.

[0071] In one optional implementation, the step of dividing the trajectory line into road segments based on the road start point, road end point, and road segment nodes in the road to be adjusted to obtain a new road shape includes: determining the projection points of the road start point, road end point, and road segment nodes in the road to be adjusted on the trajectory line; and dividing the trajectory line into road segments based on the projection points to obtain a new road shape.

[0072] In the process of segmenting a trajectory line, the projection points from the road's starting and ending points onto the trajectory line Lt can be determined. These projection points are then used to segment the trajectory line, obtaining the path before the starting point, the path after the ending point, and the path between the starting and ending points. Furthermore, the projection points of road segment nodes on the trajectory line can be determined, and these projection points are used to segment the path between the starting and ending points. By segmenting the trajectory line based on projection points, the accuracy of the new road shape can be further improved.

[0073] The technical solution of this disclosure, through trajectory point fitting, trajectory line segment division, and supplementation of the first and last road segments, can further improve the accuracy of the target road shape.

[0074] Figure 4 This is a schematic diagram of a road shape adjustment device according to an embodiment of the present disclosure. This embodiment is applicable to situations where the target's annotation frame and anchor frame are matched. The device is configured in an electronic device and can implement the road shape adjustment method described in any embodiment of the present disclosure. (Reference) Figure 4 The road shape adjustment device 400 specifically includes the following:

[0075] The road to be adjusted module 410 is used to select the road to be adjusted from the original road network based on the road start point and road end point of the road to be adjusted;

[0076] The target vehicle trajectory module 420 is used to determine the target vehicle trajectory that matches the road to be adjusted.

[0077] The shape adjustment module 430 is used to determine the shape of the target road based on the trajectory of the target vehicle, as the shape adjustment result of the road to be adjusted.

[0078] In one alternative embodiment, the road shape adjustment device 400 further includes a start-end point determination module, the start-end point determination module comprising:

[0079] Reference route unit, used to obtain the target reference route selected from the candidate reference routes;

[0080] The area to be adjusted unit is used to determine the area to be adjusted based on the target reference route;

[0081] The area display unit is used to display the area to be adjusted;

[0082] The start and end point selection unit is used to obtain the start and end points of the selected road to be adjusted in the area to be adjusted.

[0083] In one alternative embodiment, the road module 410 to be adjusted includes:

[0084] The path planning unit is used to perform path planning based on the original road network and the selected road start and end points to obtain the road to be adjusted.

[0085] The road display unit is used to display the roads to be adjusted.

[0086] The start and end point adjustment unit is used to determine a new road start and / or a new road end point based on the user's adjustment operation on the selected road start and / or road end point;

[0087] The path planning unit is also used to re-plan the path based on the new road start point and / or the new road end point, so as to reselect the road to be adjusted.

[0088] In one optional implementation, the target vehicle trajectory module 420 includes:

[0089] The projection distance unit is used to determine the projection distance from the shape point in the road to be adjusted to the candidate vehicle trajectory;

[0090] The vehicle trajectory selection unit is used to select a target vehicle trajectory that matches the road to be adjusted from the candidate vehicle trajectories based on the projection distance.

[0091] In one optional implementation, the target vehicle trajectory module includes:

[0092] The trajectory display unit is used to display the trajectory of the selected target vehicle;

[0093] The trajectory reselection unit is used to obtain the target vehicle trajectory reselected by the user from the candidate vehicle trajectories based on the user's adjustment operation on the target vehicle trajectory.

[0094] In one alternative embodiment, the shape adjustment module 430 includes:

[0095] The trajectory fitting unit is used to fit the trajectory points in the trajectory of the target vehicle to obtain the trajectory line;

[0096] The road segment division unit is used to divide the trajectory line into road segments based on the road start point, road end point and road segment nodes in the road to be adjusted, so as to obtain a new road shape;

[0097] The road segment splicing unit is used to splice the first road segment before the starting point and the last road segment after the ending point of the road into the new road shape to obtain the target road shape.

[0098] In one optional implementation, the road segment division unit includes:

[0099] The projection point sub-unit is used to determine the projection points of the road start point, road end point, and road segment node on the trajectory line of the road to be adjusted;

[0100] The road segmentation subunit is used to divide the trajectory line into road segments based on the projection points to obtain a new road shape.

[0101] In one alternative embodiment, the road shape adjustment device 400 further includes an element drawing module, the element drawing module comprising:

[0102] The original location unit is used to obtain the original location information of the road element in the road to be adjusted;

[0103] An element drawing unit is used to draw the road elements in the target road shape based on the original location information.

[0104] The technical solution of this embodiment can automatically adjust the shape of the road after obtaining the start and end points of the road to be adjusted. The operator only needs to determine the start and end points of the road to be adjusted, which greatly reduces manual operation and improves adjustment efficiency. Furthermore, determining the road to be adjusted, the target vehicle trajectory matching the road to be adjusted, and adjusting the shape of the road to be adjusted based on the target vehicle trajectory can all be executed automatically. The accuracy and smoothness of the target road shape are higher than those of manual road reshaping.

[0105] The acquisition, storage, and application of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0106] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0107] Figure 5 A schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0108] like Figure 5As shown, device 500 includes a computing unit 501, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 502 or a computer program loaded from storage unit 508 into random access memory (RAM) 503. RAM 503 may also store various programs and data required for the operation of device 500. The computing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0109] Multiple components in device 500 are connected to I / O interface 505, including: input unit 506, such as keyboard, mouse, etc.; output unit 507, such as various types of monitors, speakers, etc.; storage unit 508, such as disk, optical disk, etc.; and communication unit 509, such as network card, modem, wireless transceiver, etc. Communication unit 509 allows device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0110] The computing unit 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units that execute machine learning model algorithms, a digital information processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as the road shape adjustment method. For example, in some embodiments, the road shape adjustment method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on device 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of the road shape adjustment method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the road shape adjustment method by any other suitable means (e.g., by means of firmware).

[0111] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0112] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0113] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0114] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0115] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0116] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs that execute on the respective computers and establish a client-server relationship. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system. This addresses the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0117] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0118] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for adjusting the shape of a road, comprising: Retrieve the target reference route selected from the candidate reference routes; The area to be adjusted is determined based on the target reference route; Show the area to be adjusted; Obtain the starting and ending points of the selected roads to be adjusted within the area to be adjusted; Select the roads to be adjusted from the original road network based on the starting and ending points of the roads to be adjusted. If the road to be adjusted does not meet the requirements for road shape adjustment, the path distance between the new road start and end point is reduced by sliding the road start point or the road end point, and the road to be adjusted is reselected from the original road network according to the new road start and end point. From at least one candidate vehicle trajectory, determine the target vehicle trajectory that matches the road to be adjusted; The shape of the target road is determined based on the trajectory of the target vehicle, and this shape is used as the result of the road shape adjustment.

2. The method according to claim 1, wherein selecting the road to be adjusted from the original road network based on the road start and road end points of the road to be adjusted comprises: Based on the original road network, route planning is performed according to the selected road start and end points to obtain the roads to be adjusted. Showing the roads to be adjusted; Based on the user's adjustment operation on the selected road start point and / or road end point, determine the new road start point and / or new road end point; Re-plan the route based on the new road start point and / or the new road end point to reselect the road to be adjusted.

3. The method according to claim 1, wherein, Determining the target vehicle trajectory that matches the road to be adjusted includes: Determine the projected distance from the shape point in the road to be adjusted to the candidate vehicle trajectory; Based on the projection distance, a target vehicle trajectory that matches the road to be adjusted is selected from the candidate vehicle trajectories.

4. The method according to claim 3, wherein determining the target vehicle trajectory matching the road to be adjusted further includes: Displays the trajectory of the selected target vehicle; Based on the user's adjustment operation on the target vehicle trajectory, obtain the target vehicle trajectory that the user reselected from the candidate vehicle trajectories.

5. The method according to claim 1, wherein, Determining the shape of the target road based on the target vehicle trajectory includes: The trajectory points in the target vehicle's trajectory are fitted to obtain the trajectory line; Based on the starting point, ending point, and segment nodes of the road to be adjusted, the trajectory line is divided into segments to obtain a new road shape; The first road segment before the starting point and the last road segment after the ending point of the road are spliced ​​together to form the new road shape to obtain the target road shape.

6. The method according to claim 5, wherein, The process of dividing the trajectory line into road segments based on the starting point, ending point, and segment nodes of the road to be adjusted to obtain a new road shape includes: Determine the projection points of the starting point, ending point, and segment nodes of the road to be adjusted on the trajectory line; The trajectory line is divided into road segments based on the projection points to obtain a new road shape.

7. The method according to claim 1, after determining the target road shape based on the target vehicle trajectory as the shape adjustment result of the road to be adjusted, further comprising: Obtain the original position information of the road elements within the road to be adjusted; Based on the original location information, the road elements are drawn in the target road shape.

8. A road shape adjustment device, comprising: The road to be adjusted module is used to select the road to be adjusted from the original road network based on the road's starting point and ending point. The target vehicle trajectory module is used to determine the target vehicle trajectory that matches the road to be adjusted from at least one candidate vehicle trajectory. The shape adjustment module is used to determine the shape of the target road based on the trajectory of the target vehicle, which is used as the shape adjustment result of the road to be adjusted. The device further includes: Reference route unit, used to obtain the target reference route selected from the candidate reference routes; The area to be adjusted unit is used to determine the area to be adjusted based on the target reference route; The area display unit is used to display the area to be adjusted; The start and end point selection unit is used to obtain the road start and road end points of the selected road to be adjusted in the area to be adjusted. The device is also specifically used for: If the road to be adjusted does not meet the requirements for road shape adjustment, the path distance between the new road start and end point is reduced by sliding the road start point or the road end point, and the road to be adjusted is reselected from the original road network according to the new road start and end point.

9. The apparatus according to claim 8, wherein the road module to be adjusted comprises: The path planning unit is used to perform path planning based on the original road network and the selected road start and end points to obtain the road to be adjusted. The road display unit is used to display the roads to be adjusted. The start and end point adjustment unit is used to determine a new road start point and / or a new road end point based on the user's adjustment operation on the selected road start point and / or road end point; The path planning unit is also used to re-plan the path based on the new road start point and / or the new road end point, so as to reselect the road to be adjusted.

10. The apparatus according to claim 8, wherein, The target vehicle trajectory module includes: The projection distance unit is used to determine the projection distance from the shape point in the road to be adjusted to the candidate vehicle trajectory; The vehicle trajectory selection unit is used to select a target vehicle trajectory that matches the road to be adjusted from the candidate vehicle trajectories based on the projection distance.

11. The apparatus according to claim 10, wherein the target vehicle trajectory module comprises: The trajectory display unit is used to display the trajectory of the selected target vehicle; The trajectory reselection unit is used to obtain the target vehicle trajectory reselected by the user from the candidate vehicle trajectories based on the user's adjustment operation on the target vehicle trajectory.

12. The apparatus according to claim 8, wherein, The shape adjustment module includes: The trajectory fitting unit is used to fit the trajectory points in the trajectory of the target vehicle to obtain the trajectory line; The road segment division unit is used to divide the trajectory line into road segments based on the road start point, road end point and road segment nodes in the road to be adjusted, so as to obtain a new road shape; The road segment splicing unit is used to splice the first road segment before the starting point and the last road segment after the ending point of the road into the new road shape to obtain the target road shape.

13. The apparatus according to claim 12, wherein, The road segment division unit includes: The projection point sub-unit is used to determine the projection points of the road start point, road end point, and road segment node on the trajectory line of the road to be adjusted; The road segmentation subunit is used to divide the trajectory line into road segments based on the projection points to obtain a new road shape.

14. The apparatus according to claim 8, further comprising an element drawing module, the element drawing module comprising: The original location unit is used to obtain the original location information of the road element in the road to be adjusted; An element drawing unit is used to draw the road elements in the target road shape based on the original location information.

15. An electronic device, wherein, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

16. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-7.

17. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-7.

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