A method, device, electronic device and readable storage medium for acquiring a target map

Abstract

The present invention relates to the technical field of unmanned driving, and mainly provides a method, device, electronic device and readable storage medium for obtaining a target map, by obtaining a dotted map and information corresponding to each node in the dotted map, then obtaining key points in the dotted map according to the information corresponding to each node in the dotted map, and obtaining a target road section using a key point sequence composed of key points, then searching for nodes belonging to multiple target road sections at the same time according to a road section sequence composed of target road sections, and recording the target road sections corresponding to the nodes, constructing a fork in the road based on the target road sections corresponding to the nodes, and the fork in the road is used to form a fork in the road sequence, and finally outputting a target map according to the road section sequence and the fork in the road sequence. The present invention reduces the map construction cycle by converting an existing dotted map into a target map, and constructs a map according to key points in the dotted map, thereby reducing the scope of the map and improving the utilization rate of the map.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned driving, and in particular to a method, device, electronic device and readable storage medium for acquiring a target map. Background Art

[0002] Path planning is an important part of autonomous driving. Its task is to find a drivable and safe path from the starting point to the end point. When performing path planning, it is necessary to represent the road information of the current environment in advance so that the vehicle's path planning program knows how to go in the current environment.

[0003] For unmanned vehicles, the existing technology plans detailed path information through discrete high-precision maps, but discrete high-precision maps are too large, the map construction cycle is long, and the quality requirements of cartographers are high. In addition, unmanned vehicles do not need so much environmental information when performing tasks. They only need to know how to go in the current environment. Therefore, much of the information describing the environmental status contained in the map is not used. The map definition of this information is complex and will take up a lot of memory. Unmanned vehicles do not make high use of map information. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, electronic device and readable storage medium for obtaining a target map, aiming to solve the problems of long map construction period, large map size and low utilization rate in the prior art.

[0005] In order to solve the above technical problems, a technical solution adopted in the embodiment of the present invention is: to provide a method for obtaining a target map, the method comprising:

[0006] Obtaining a dot map and information corresponding to each node in the dot map;

[0007] Acquire key points in the dot map according to information corresponding to each node in the dot map, wherein the key points are used to form a key point sequence;

[0008] Acquire a target road section according to the key point sequence, wherein the target road section is used to form a road section sequence;

[0009] Based on the road segment sequence, searching for nodes that belong to multiple target road segments at the same time, and recording the target road segments corresponding to the nodes;

[0010] Constructing a fork in the road based on the target road section corresponding to the node, wherein the fork in the road is used to form a fork in the road sequence;

[0011] A target map is output according to the road segment sequence and the road junction sequence.

[0012] Optionally, obtaining key points in the dot map according to information corresponding to each node in the dot map includes:

[0013] According to the information corresponding to each node in the dot map, a first key point with an in-degree of a first threshold is obtained, and a second key point with an out-degree and / or an in-degree of a second threshold is obtained, wherein the first key point and the second key point constitute the key point sequence.

[0014] Optionally, acquiring the target road section according to the key point sequence includes:

[0015] Randomly selecting a key point based on the key point sequence, and obtaining information of the randomly selected key point;

[0016] According to the information of the key point, the next key point corresponding to the preset direction of the key point is obtained, and the randomly selected key point and the next key point constitute the target section.

[0017] Optionally, constructing a fork in the road based on the target road section corresponding to the node includes:

[0018] Obtaining the horizontal coordinate, vertical coordinate and direction corresponding to each node in the target road section;

[0019] According to the horizontal coordinate, the vertical coordinate and the direction, the target road sections corresponding to the nodes are connected to form a fork in the road.

[0020] Optionally, outputting a target map according to the road segment sequence and the road fork sequence includes:

[0021] According to the information corresponding to the nodes, the road segment sequence and the road junction sequence are connected in sequence to output a target map.

[0022] In order to solve the above technical problems, another technical solution adopted in the embodiment of the present invention is: to provide a target map acquisition device, the device comprising:

[0023] A first acquisition module is used to acquire a dot map and information corresponding to each node in the dot map;

[0024] A second acquisition module is used to acquire key points in the dot map according to information corresponding to each node in the dot map, and the key points are used to form a key point sequence;

[0025] A third acquisition module is used to acquire a target road section according to the key point sequence, wherein the target road section is used to form a road section sequence;

[0026] A search module, used for searching nodes belonging to multiple target road sections at the same time based on the road section sequence, and recording the target road sections corresponding to the nodes;

[0027] A construction module, used for constructing a fork in the road based on the target road section corresponding to the node, wherein the fork in the road is used to form a fork in the road sequence;

[0028] An output module is used to output a target map according to the road section sequence and the fork sequence.

[0029] Optionally, the second acquisition module includes:

[0030] A first acquisition unit is used to acquire a first key point with an in-degree of a first threshold value according to information corresponding to each node in the dot map, and to acquire a second key point with an out-degree and / or in-degree of a second threshold value, wherein the first key point and the second key point constitute the key point sequence.

[0031] Optionally, the third acquisition module includes:

[0032] A selection unit, configured to randomly select a key point based on the key point sequence, and obtain information of the randomly selected key point;

[0033] The second acquisition unit is used to acquire the next key point corresponding to the preset direction of the key point according to the information of the key point, and the randomly selected key point and the next key point constitute the target road section.

[0034] In order to solve the above technical problems, another technical solution adopted in the embodiment of the present invention is: to provide an electronic device, the electronic device comprising:

[0035] at least one processor; and,

[0036] a memory communicatively connected to the at least one processor; wherein,

[0037] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of the above-mentioned target map acquisition methods.

[0038] To solve the above technical problems, another technical solution adopted by the implementation mode of the present invention is: providing a readable storage medium, wherein the readable storage medium stores computer executable instructions, and the computer executable instructions are used to enable a computer to execute any one of the above target map acquisition methods.

[0039] Different from the related art, the embodiments of the present invention provide a method, device, electronic device and readable storage medium for obtaining a target map, which mainly obtains a dotted map and information corresponding to each node in the dotted map, then obtains the key points in the dotted map according to the information corresponding to each node in the dotted map, and obtains the target road section using the key point sequence composed of the key points, then searches for nodes belonging to multiple target road sections at the same time according to the road section sequence composed of the target road sections, and records the target road sections corresponding to the nodes, constructs a fork in the road based on the target road sections corresponding to the nodes, and the fork in the road is used to form a fork in the road sequence, and finally outputs the target map according to the road section sequence and the fork in the road sequence. The embodiments of the present invention reduce the map construction cycle by converting the existing dotted map into a target map, and reduces the scope of the map by constructing the map according to the key points in the dotted map, thereby improving the utilization rate of the map. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0041] Figure 1 is a flow chart of a method for obtaining a target map provided by an embodiment of the present invention;

[0042] Figure 2 It is a schematic diagram of information carried by sampling points in a dot map provided by an embodiment of the present invention;

[0043] Figure 3 is a schematic diagram of road changes in a dotted map provided by an embodiment of the present invention;

[0044] Figure 4 is a schematic diagram of a target road section in a target map acquisition method provided by an embodiment of the present invention;

[0045] Figure 5 is a schematic diagram of a target map in a map acquisition method provided by an embodiment of the present invention;

[0046] Figure 6 is a structural block diagram of a target map acquisition device provided by an embodiment of the present invention;

[0047] Figure 7 It is a schematic diagram of the hardware structure of an electronic device for executing the above method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention 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 invention and are not used to limit the present invention.

[0049] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, and all are within the protection scope of the present invention. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from the module division in the device schematic diagram or the order in the flow chart.

[0050] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0051] See also Figure 1 , Figure 1 is a flow chart of a method for obtaining a target map provided by an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0052] Step S01: Obtain a dot map and information corresponding to each node in the dot map.

[0053] The dotted map refers to a map that uses track points to represent road information. Specifically, the location and direction of each road are first obtained, and then the smart car is controlled to travel according to the location and direction of the road. During the driving of the smart car, the smart car is controlled to obtain sampling points at a preset interval, wherein the sampling points can represent the basic information of the road. Please refer to Figure 2 , Figure 2 It is a schematic diagram of information carried by sampling points in a dotted map provided by an embodiment of the present invention. Finally, after the road driving is completed, a dotted map is automatically generated in a map coordinate system based on the sampling points, wherein the dotted map includes the information carried by the sampling points.

[0054] Optionally, according to the dot map, a node in the dot map is obtained, wherein the node is also the sampling point, such as Figure 2 As shown, the node at least includes the ordinate and abscissa of the current node in the map coordinate system, the angle (direction) between the current node and the map coordinate system, and the number of lanes on the left and the number of lanes on the right of the current node.

[0055] Step S02: acquiring key points in the dot map according to information corresponding to each node in the dot map, wherein the key points are used to form a key point sequence.

[0056] According to the information corresponding to each node in the dot map, a first key point with an in-degree of a first threshold is obtained, and a second key point with an out-degree and / or an in-degree of a second threshold is obtained, wherein the first key point and the second key point constitute the key point sequence.

[0057] Specifically, if a road in the dot map changes from at least two roads to one road at the location of the current node, the current node is the first key point, and if a road in the dot map changes from one road to at least two roads at the location of the current node, the current node is the second key point, wherein the in-degree and the out-degree refer to the orientation information of the current node, that is, the in-degree refers to the direction of entering the node, and the out-degree refers to the direction of leaving the node. After the first key point and the second key point are obtained according to the out-degree and in-degree information, the first key point and the second key point are added to the same set to form the key point sequence.

[0058] See also Figure 3 , Figure 3 is a schematic diagram of road changes in a dotted map provided by an embodiment of the present invention, such as Figure 3 As shown, each node in the dot map has a corresponding direction, wherein node 10 refers to the first key point with an in-degree of the first threshold, that is, after entering the node 10, the road changes from two roads to one road; node 20 refers to the second key point with an in-degree of the second threshold, that is, after entering the node 20, the road changes from one road to two roads.

[0059] Step S03: acquiring a target road section according to the key point sequence, wherein the target road section is used to form a road section sequence.

[0060] A key point is randomly selected based on the key point sequence, and information of the randomly selected key point is obtained. According to the information of the key point, a next key point corresponding to a preset direction of the key point is obtained, and the randomly selected key point and the next key point constitute the target section.

[0061] Specifically, a key point is randomly selected from the key point sequence, and the key point can be the first key point or the second key point. Then, the third key point is searched according to the information carried by the key point, wherein the third key point is searched according to the direction of the randomly selected key point, that is, if the direction information carried by the randomly selected key point is from left to right, then, according to the randomly selected key point, search to the right until the third key point is obtained, and then the target section is composed based on the randomly selected key point and the third key point. Then, according to the direction information carried by the third key point, the key point that constitutes the target section with the third key point is searched, and finally the above steps are repeated until all key points are traversed.

[0062] In another embodiment, a key point is randomly selected in the key point sequence, and the key point can be the first key point or the second key point. Then, based on the key point, a fourth key point is searched in a preset direction, and then the randomly selected key point and the fourth key point are combined to form the target section. Then, another key point is randomly selected, and a fifth key point is searched in the preset direction. Finally, the other key point and the fifth key point are combined to form the target section, and then the above steps are repeated until all key points are traversed.

[0063] After all the key points are traversed, the key points and nodes belonging to the same target road segment are connected in a preset order, wherein the preset order may be the direction information carried by the key points, that is, one of the key points is used as the starting point, the node is used as the middle road segment, and another key point is used as the end point to connect the key points and the nodes to form the target road segment, see Figure 4 , Figure 4 is a schematic diagram of a target road section provided by an embodiment of the present invention. After all the key points form the target road section, the target road section is loaded into the target sequence.

[0064] Step S04: based on the road segment sequence, search for nodes that belong to multiple target road segments at the same time, and record the target road segments corresponding to the nodes.

[0065] Specifically, since the target road section includes two key points and multiple nodes, and since the direction information of the key points is different, the node may belong to at least two target roads at the same time. At this time, the nodes that belong to multiple target roads at the same time are marked, and the positions of the target roads where the nodes are located are recorded.

[0066] Step S05: construct a fork in the road based on the target road section corresponding to the node, and the fork in the road is used to form a fork in the road sequence.

[0067] The horizontal coordinate, the vertical coordinate and the direction corresponding to each node in the target road section are obtained, and the target road sections corresponding to the nodes are connected according to the horizontal coordinate, the vertical coordinate and the direction to form a fork in the road.

[0068] For details, please refer to Figure 5 , Figure 5 is a schematic diagram of a target map in a map acquisition method provided by an embodiment of the present invention, such as Figure 5 As shown, the target map includes a fork in the road and a target road section, wherein the fork in the road is composed according to the target road sections. Since there are nodes in the target road section sequence that belong to multiple target road sections at the same time, then according to the information carried by the nodes, the target road sections where the nodes are located are combined to form a fork in the road, wherein the nodes that belong to multiple target road sections at the same time are the connection points of the fork in the road.

[0069] Step S06: output a target map according to the road section sequence and the fork road sequence.

[0070] According to the information corresponding to the nodes, the road segment sequence and the road junction sequence are connected in sequence to output a target map.

[0071] Specifically, Figure 5 As shown, the road includes a target road section and a fork in the road. First, the information carried by the key points and the nodes in the target road section is obtained, and then the target road section and the fork in the road are connected according to the information to finally form a target map. The direction information in the target map is set according to the key points and the nodes.

[0072] The embodiment of the present invention provides a method for obtaining a target map. The method mainly obtains a dotted map and information corresponding to each node in the dotted map, then obtains key points in the dotted map according to the information corresponding to each node in the dotted map, and obtains a target road section using a key point sequence composed of the key points, then searches for nodes belonging to multiple target road sections at the same time according to a road section sequence composed of the target road sections, and records the target road sections corresponding to the nodes, constructs a fork in the road based on the target road sections corresponding to the nodes, and the fork in the road is used to form a fork in the road sequence, and finally outputs a target map according to the road section sequence and the fork in the road sequence. The embodiment of the present invention reduces the map construction cycle by converting an existing dotted map into a target map, and reduces the scope of the map by constructing the map according to the key points in the dotted map, thereby improving the utilization rate of the map.

[0073] See also Figure 6 , Figure 6is a structural block diagram of a target map acquisition device provided by an embodiment of the present invention, such as Figure 6 As shown, the target map acquisition device 40 includes a first acquisition module 41 , a second acquisition module 42 , a third acquisition module 43 , a search module 44 , a construction module 45 and an output module 46 .

[0074] The first acquisition module 41 is used to acquire a dot map and information corresponding to each node in the dot map.

[0075] The second acquisition module 42 is used to acquire key points in the dot map according to information corresponding to each node in the dot map, and the key points are used to form a key point sequence.

[0076] The second acquisition module 42 includes a first acquisition unit;

[0077] The first acquisition unit is used to acquire a first key point with an in-degree of a first threshold value according to information corresponding to each node in the dot map, and to acquire a second key point with an out-degree and / or in-degree of a second threshold value, wherein the first key point and the second key point constitute the key point sequence.

[0078] The third acquisition module 43 is used to acquire a target road section according to the key point sequence, and the target road section is used to form a road section sequence.

[0079] The third acquisition module 43 includes a selection unit and a second acquisition unit;

[0080] The selection unit is used to randomly select a key point based on the key point sequence, and obtain information of the randomly selected key point;

[0081] The second acquisition unit is used to acquire the next key point corresponding to the preset direction of the key point according to the information of the key point, and the randomly selected key point and the next key point constitute the target road section.

[0082] The search module 44 is used to search for nodes that belong to multiple target road sections at the same time based on the road section sequence, and record the target road sections corresponding to the nodes.

[0083] The construction module 45 is used to construct a fork in the road based on the target road section corresponding to the node, and the fork in the road is used to form a fork in the road sequence.

[0084] The output module 46 is used to output a target map according to the road section sequence and the fork sequence.

[0085] It should be noted that the above-mentioned target map acquisition device can execute the target map acquisition method provided in the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in the target map acquisition device embodiment, please refer to the target map acquisition method provided in the embodiment of the present invention.

[0086] See also Figure 7 The embodiment of the present invention provides an electronic device 30, the electronic device 30 includes: at least one processor 31, Figure 7 In the example, a processor 31 is used; the memory 32 connected to the at least one processor 31 in communication, Figure 7 The example of connecting through bus is taken in the following.

[0087] The memory 32 stores instructions that can be executed by the at least one processor 31, and the instructions are executed by the at least one processor 31 so that the at least one processor 31 can execute the above-mentioned target map acquisition method.

[0088] The memory 32 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the target map acquisition method in the embodiment of the present invention. The processor 31 executes various functional applications and data processing of the electronic device 30 by running the non-volatile software programs, instructions and modules stored in the memory 32, that is, the target map acquisition method in the above method embodiment is implemented.

[0089] The memory 32 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function. In addition, the memory 32 may include a high-speed random access memory and may also include a non-volatile memory. For example, it may include at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 32 may optionally include a memory remotely arranged relative to the processor 31.

[0090] The one or more modules are stored in the memory 32, and when executed by the one or more processors 31, execute the target map acquisition method in any of the above method embodiments, for example, execute the above described Figure 1 The method steps in .

[0091] The electronic device 30 is also connected to other devices for better executing the method provided by the embodiment of the present invention, such as being electrically connected to a display screen or other displays, being remotely connected to a communication device of a target user, etc., which are not listed here one by one.

[0092] The electronic device can execute the method provided by the embodiment of the present invention and has the functional modules corresponding to the execution method. For the technical details not described in detail in this embodiment, please refer to the method provided by the embodiment of the present invention.

[0093] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0094] The embodiment of the present invention further provides a readable storage medium, wherein the readable storage medium stores computer executable instructions, and the computer executable instructions are executed by one or more processors, for example, to execute the above-described Figure 1 The method steps in Figure 6 The functions of each module in.

[0095] Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for obtaining a target map, characterized in that: The method comprises: Obtaining a dot map and information corresponding to each node in the dot map; Acquire key points in the dot map according to information corresponding to each node in the dot map, wherein the key points are used to form a key point sequence; Acquire a target road section according to the key point sequence, wherein the target road section is used to form a road section sequence; Based on the road segment sequence, searching for nodes that belong to multiple target road segments at the same time, and recording the target road segments corresponding to the nodes; Constructing a fork in the road based on the target road section corresponding to the node, wherein the fork in the road is used to form a fork in the road sequence; Outputting a target map according to the road section sequence and the fork road sequence; Wherein, obtaining the key points in the dot map according to the information corresponding to each node in the dot map includes: According to the information corresponding to each node in the dot map, a first key point with an in-degree of a first threshold is obtained, and a second key point with an out-degree and / or an in-degree of a second threshold is obtained, wherein the first key point and the second key point constitute the key point sequence; Wherein, obtaining a target road section according to the key point sequence, wherein the target road section is used to form a road section sequence, includes: Randomly selecting a key point in the key point sequence, wherein the key point is the first key point or the second key point; Searching for a third key point according to the information carried by the randomly selected key point, and forming the target road segment based on the randomly selected key point and the third key point, wherein the information carried by the key point includes orientation information; After the randomly selected key point and the third key point form the target section, the fourth key point is searched according to the information carried by the third key point, and the fourth key point and the third key point are combined to form the target section, and the above steps are repeated until all key points are traversed.

2. The method according to claim 1, characterized in that The step of acquiring the target road section according to the key point sequence comprises: Randomly selecting a key point based on the key point sequence, and obtaining information of the randomly selected key point; According to the information of the key point, the next key point corresponding to the preset direction of the key point is obtained, and the randomly selected key point and the next key point constitute the target section.

3. The method according to any one of claims 1 or 2, characterized in that: The step of constructing a fork in the road based on the target road section corresponding to the node includes: Obtaining the horizontal coordinate, vertical coordinate and direction corresponding to each node in the target road section; According to the horizontal coordinate, the vertical coordinate and the direction, the target road sections corresponding to the nodes are connected to form a fork in the road.

4. The method according to claim 3, characterized in that Outputting a target map according to the road section sequence and the fork road sequence includes: According to the information corresponding to the nodes, the road segment sequence and the road junction sequence are connected in sequence to output a target map.

5. A target map acquisition device, characterized in that: The device comprises: A first acquisition module is used to acquire a dot map and information corresponding to each node in the dot map; A second acquisition module is used to acquire key points in the dot map according to information corresponding to each node in the dot map, and the key points are used to form a key point sequence; A third acquisition module is used to acquire a target road section according to the key point sequence, wherein the target road section is used to form a road section sequence; A search module, used for searching nodes belonging to multiple target road sections at the same time based on the road section sequence, and recording the target road sections corresponding to the nodes; A construction module, used for constructing a fork in the road based on the target road section corresponding to the node, wherein the fork in the road is used to form a fork in the road sequence; An output module, used for outputting a target map according to the road section sequence and the fork road sequence; Wherein, the second acquisition module includes: A first acquisition unit is used to acquire a first key point whose in-degree is a first threshold value according to information corresponding to each node in the dot map, and acquire a second key point whose out-degree and / or in-degree is a second threshold value, wherein the first key point and the second key point constitute the key point sequence; Wherein, the search module is specifically used for: Randomly selecting a key point in the key point sequence, wherein the key point is the first key point or the second key point; Searching for a third key point according to the information carried by the randomly selected key point, and forming the target road segment based on the randomly selected key point and the third key point, wherein the information carried by the key point includes orientation information; After the randomly selected key point and the third key point form the target section, the fourth key point is searched according to the information carried by the third key point, and the fourth key point and the third key point form the target section, and the above steps are repeated until all key points are traversed.

6. The device according to claim 5, characterized in that The third acquisition module includes: A selection unit, configured to randomly select a key point based on the key point sequence, and obtain information of the randomly selected key point; The second acquisition unit is used to acquire the next key point corresponding to the preset direction of the key point according to the information of the key point, and the randomly selected key point and the next key point constitute the target road section.

7. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, 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, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 4.

8. A readable storage medium, characterized in that: The readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the method according to any one of claims 1 to 4.

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