Method, device and electronic device for determining lane group type

Abstract

The present disclosure provides a method, device and electronic device for determining the type of lane group, which relates to the field of data processing technology, and in particular to the field of intelligent transportation. The specific implementation scheme is: identify multiple lane groups from the road network topology map; obtain the road links of each lane group based on the first and last nodes of the longitudinal markings on any side of each lane group; traverse each road link to detect whether there are other road links in the road section on the left side of any road link; if so, determine that there is a matching interval between the two road links; based on the coverage rate of the matching interval in each lane group, determine the type of the lane group, wherein the type of the lane group includes: opposite lane group and non-opposite lane group. The present disclosure at least solves the problem of low efficiency in lane group type recognition in the prior art.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing technology, in particular to the field of intelligent transportation, and specifically to a method, device and electronic device for determining a lane group type. Background Art

[0002] In the process of making lane-level navigation map data, it is necessary to identify the type of lane group. For example, according to the longitudinal markings on the lane, the lane group can be divided into an opposite lane group and a non-opposite lane group. Among them, the type of lane group is the basic attribute for making lane-level navigation map data.

[0003] However, in the prior art, the lane group type is manually identified to ensure that the correct lane-level navigation map data is obtained, and then the lane-level navigation map is generated using the correct lane-level navigation map data. However, due to the changeable and complex scenes in the real world, the manual identification method has many restrictions and high identification costs, resulting in low efficiency in identifying lane group types. Summary of the invention

[0004] The present disclosure provides a method, device and electronic device for determining the type of a lane group. According to one aspect of the present disclosure, a method for determining the type of a lane group is provided, comprising: identifying multiple lane groups from a road network topology map; obtaining the road links of each lane group based on the first and last nodes of the longitudinal markings on either side of each lane group; traversing each road link to detect whether there are other road links in the road section on the left side of any road link; if so, determining whether there is a matching interval between the two road links; determining the type of the lane group based on the coverage rate of the matching interval in each lane group, wherein the type of the lane group includes: an opposite lane group and a non-opposite lane group.

[0005] Furthermore, the method for determining the lane group type also includes: obtaining multiple longitudinal markings along the travel direction on one side in any group of lane groups; connecting the ends of the multiple longitudinal markings in sequence to obtain a road link of the lane group; recording the position information of the head node of each road link; wherein, if there are multiple order points in the road link, the road link is disconnected, and the disconnection point is marked as a break point.

[0006] Furthermore, the method for determining the lane group type also includes: taking any road link as the road link to be detected, and determining whether there is a matching interval in the road link to be detected, wherein the matching interval is composed of an area between at least two consecutive matching points, and the matching point is any geometric point in the road link to be detected, and the geometric point exists within a predetermined distance in the left direction from other road links.

[0007] Furthermore, the method for determining the lane group type also includes: taking the head node of the road link to be detected as the starting node, and traversing any geometric point on the road link to be detected in sequence; counting whether there are other road links within a predetermined distance in the left direction of any geometric point; if so, recording the geometric point as a matching point, and recording other road links associated with the matching point.

[0008] Furthermore, the method for determining the lane group type also includes: in the process of traversing the road link to be detected, if the matching results of two consecutive geometric points are different, calculating the distance between the two geometric points; if the distance between the two geometric points is greater than a predetermined length, inserting a new geometric point between the two geometric points, until any two consecutive geometric points in the road link to be detected have different matching results, and the distance between any two consecutive geometric points is less than the predetermined length.

[0009] Furthermore, the method for determining the lane group type also includes: if the matching interval completely covers the longitudinal marking of any lane group, determining that the lane group is an oncoming lane group.

[0010] Furthermore, the method for determining the lane group type also includes: if the matching interval partially covers the longitudinal marking of any lane group; counting the number of road links within the lane group covered by the matching interval; based on the number of road links, obtaining the ratio of the longitudinal marking of the lane group to the total lane length; if the ratio exceeds a threshold, determining that the lane group is an oncoming lane group.

[0011] Furthermore, the method for determining the lane group type also includes: when multiple lane groups located at a road interchange are identified from a road network topology map, the multiple lane groups located at the road interchange are layered to obtain multiple lane groups located at different levels, wherein the multiple lane groups deployed in layers constitute an interchange system at the road interchange.

[0012] According to another aspect of the present disclosure, there is provided a device for determining the type of a lane group, comprising: an identification module for identifying multiple lane groups from a road network topology map; an acquisition module for acquiring the road links of each lane group based on the first and last nodes of the longitudinal markings on either side of each lane group; a detection module for traversing each road link and detecting whether there are other road links in the road section on the left side of any road link; a determination module for determining whether there is a matching interval between the two road links if so; and a type identification module for determining the type of the lane group based on the coverage rate of the matching interval in each lane group, wherein the types of the lane groups include: an opposing lane group and a non-opposite lane group.

[0013] According to another aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable 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 the above-mentioned method for determining the lane group type.

[0014] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the above-mentioned method for determining a lane group type.

[0015] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the computer program implements the above-mentioned method for determining a lane group type.

[0016] In the technical solution disclosed in the present invention, a method of detecting whether there are other road links in the road section on the left side of any road link is adopted. First, multiple lane groups are identified from the road network topology map, and then the road links of each lane group are obtained based on the head and tail nodes of the longitudinal markings on any side of each lane group. Each road link is traversed to detect whether there are other road links in the road section on the left side of any road link. If so, it is determined that there is a matching interval between the two road links, and based on the coverage rate of the matching interval in each lane group, the type of the lane group is determined, wherein the types of the lane groups include: opposite lane groups and non-opposite lane groups.

[0017] As can be seen from the above content, the present disclosure achieves the effect of converting the lane group in real life into a virtual processable road link by generating the road link of the lane group based on the longitudinal markings of the lane group, thereby providing a data basis for automatically analyzing the type of the lane group based on the road link. On this basis, since the spacing distances between multiple road links in the opposite lane group and the non-opposite lane group are different, the present disclosure can achieve the effect of preliminarily judging the type of the lane group by detecting whether there are other road links in the road section on the left side of any road link. In addition, the present disclosure can also calculate the coverage rate of the matching interval in the lane group based on the matching interval between the two road links, so as to further determine whether the lane group is an opposite lane group based on the coverage rate on the basis of the preliminary judgment of the type of the lane group, thereby achieving the effect of efficiently determining the type of the lane group in an automated manner, and solving the technical problem of low recognition efficiency in the prior art of manually identifying the type of the lane group.

[0018] It can be seen that through the technical solution disclosed in the present invention, the purpose of automatically identifying the type of lane group is achieved, thereby achieving the effect of improving the recognition efficiency of lane group type, and further solving the technical problem of low recognition efficiency in the prior art of manually identifying lane group type.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0021] Figure 1 is a flowchart of a method for determining a lane group type according to an embodiment of the present disclosure;

[0022] Figure 2 is a schematic diagram of a lane group according to an embodiment of the present disclosure;

[0023] Figure 3 is a schematic diagram of a ground marking according to an embodiment of the present disclosure;

[0024] Figure 4 is a schematic diagram of a same-direction lane group according to an embodiment of the present disclosure;

[0025] Figure 5 is a schematic diagram of an oncoming lane group according to an embodiment of the present disclosure;

[0026] Figure 6 is a flowchart of a method for determining a lane group type according to an embodiment of the present disclosure;

[0027] Figure 7 Schematic diagram of a device for determining a lane group type according to an embodiment of the present disclosure

[0028] Figure 8 It is a block diagram of an electronic device used to implement the method for determining the lane group type according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0031] In addition, it should be noted that the acquisition, storage and application of user personal information involved in the technical solution of the present disclosure are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0032] Example 1

[0033] According to an embodiment of the present disclosure, a method embodiment for determining a lane group type is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0034] In addition, it should be noted that the electronic device can be used as the executor of the method for determining the lane group type in the present disclosure.

[0035] Figure 1 is a flowchart of a method for determining a lane group type according to an embodiment of the present disclosure. Figure 1 As shown, the method comprises the following steps:

[0036] Step S102, identifying multiple lane groups from the road network topology map.

[0037] In step S102, the electronic device may generate a road network topology map based on historical road information, or may obtain road information such as road images by connecting to a road monitoring system, thereby generating a road network topology map based on the road information. In addition, the road network topology map at least includes a plurality of lane groups on the road. The lane group is composed of a plurality of ground markings. Figure 2 As shown, in Figure 2 In the figure, arrows of different shapes represent different lane groups, and the direction of the arrows is the direction of the vehicle's travel on the lane group. Figure 2A total of five lane groups, namely lane group 1, lane group 2, lane group 3, lane group 4 and lane group 5, are shown. Each lane group has multiple road links, and each road link is marked with a head node.

[0038] In addition, the ground markings that make up the lane group are also called lane dividing lines. According to the drawing direction, the ground markings can be divided into two types: horizontal markings and longitudinal (forward) markings. Figure 3 As shown in the figure, the transverse markings represent the transverse traffic markings on the road surface, such as transverse deceleration markings, stop lines, etc. The longitudinal markings represent the markings used to separate vehicle lanes.

[0039] Furthermore, according to the actual lane characteristics, there are three basic types of longitudinal markings, among which the longitudinal markings separating the opposite lanes are called "opposite lane dividing lines", the longitudinal markings separating the same-direction lanes are called "same-direction lane dividing lines", and the longitudinal markings on both sides of the road are called "lane edge lines". These three basic types are the underlying data logic for making lane-level navigation map data. Therefore, when identifying the type of lane group, it is first necessary to identify which basic type the longitudinal markings belong to.

[0040] Step S104, obtaining the road links of each lane group based on the first and last nodes of the longitudinal marking lines on any side of each lane group.

[0041] In step S104, after identifying multiple lane groups, the electronic device may obtain multiple longitudinal markings along a travel direction on one side of any lane group, wherein the travel direction may be a travel direction of a vehicle, such as Figure 2 As shown, the direction of the arrow is the direction of travel. In addition, a longitudinal marking line has its own starting point and end point. For the convenience of analysis, the electronic device can connect the starting point and end point of the longitudinal marking line according to the spatial geometric relationship, thereby obtaining a road link corresponding to a longitudinal marking line. Among them, the starting point and end point of the longitudinal marking line are the first and last nodes of the longitudinal marking line, and any side includes at least the leftmost side of the lane group.

[0042] It should be noted that by generating the road links of the lane group based on the longitudinal markings of the lane group, the effect of converting the lane group in real life into a virtual processable road link is achieved, thereby providing a data basis for automatic analysis of the lane group type based on the road link.

[0043] Step S106, traverse each road link and detect whether there are other road links in the road section on the left side of any road link.

[0044] In step S106, the electronic device may traverse each route in each lane group, and detect whether there are other road links in the road section on the left side of any road link during the traversal process, wherein the road section may be a predetermined distance of any road link in the left direction, and the predetermined distance may be customized by the operator. In addition, the predetermined distance may be used to distinguish whether each lane in the lane group is a same-direction lane or an opposite-direction lane from an adjacent lane. Specifically, if two adjacent lanes in the lane group are same-direction lanes, the distance between the leftmost road links corresponding to the two lanes may be characterized as a first distance, and if two adjacent lanes in the lane group are opposite-direction lanes, the distance between the leftmost road links corresponding to the two lanes may be characterized as a second distance. According to actual experience, the first distance is greater than the second distance, and therefore, when the preset distance is set to be greater than the second distance and less than the first distance, the electronic device may determine whether the lane group is an opposite-direction lane group according to whether there are other routes within the preset distance.

[0045] In the above process, since the spacing distances between multiple road links in the opposite lane group and the non-opposite lane group are different, the present disclosure can achieve the effect of preliminarily determining the type of lane group by detecting whether there are other road links in the road section on the left side of any road link.

[0046] Step S108: If yes, it is determined that there is a matching interval between the two links.

[0047] In step S108, if the electronic device determines that there are other links in the road section on the left side of a link to be detected, the electronic device can calculate the matching interval between the link to be detected and each of the other links. The matching interval can be composed of the area between at least two consecutive matching points, where the matching point is any geometric point in the link to be detected, and there are other links within a predetermined distance in the left direction. The matching points at least include the head node and the break point of the link.

[0048] It should be noted that the present disclosure can determine the coverage rate of the matching interval in the lane group by calculating the matching interval between the two road links, and thus can further determine whether the lane group is an oncoming lane group by the coverage rate, thereby achieving the effect of accurately and automatically determining the type of the lane group, and solving the technical problem of low recognition efficiency in the prior art of manually identifying the type of the lane group.

[0049] Step S110, determining the type of the lane group based on the coverage rate of the matching intervals in each lane group.

[0050] In step S110, since the matching interval recorded by the electronic device based on the matching points may or may not cover the entire lane group, in order to improve the recognition accuracy of the lane group, the electronic device may calculate the coverage rate of the matching interval to the lane group. Specifically, the electronic device may count the number of road links in the lane group covered by the matching interval, and based on the number of road links, obtain the proportion of the longitudinal markings of the lane group to the total lane extent, wherein the proportion of the longitudinal markings to the total lane extent can represent the coverage rate of the matching interval to the lane group.

[0051] Furthermore, the electronic device may also set a threshold value, so that when the coverage rate exceeds the threshold value, the lane group is determined to be an opposite lane group, and when the coverage rate does not exceed the threshold value, the lane group is determined to be a non-opposite lane group. In addition, after the electronic device identifies the lane group as an opposite lane group or a non-opposite lane group, the electronic device will further identify whether the lane group is a special lane group. If the electronic device identifies the lane group as a special lane group, the lane group is determined to be a characteristic lane group. If the electronic device identifies the lane group as not a special lane group, the lane group is determined to be a corresponding opposite lane group or non-opposite lane group. Among them, the special lane group includes at least: tidal lane groups, waiting area lane groups, and other lane groups that do not conform to conventional opposite lane groups and non-opposite lane groups.

[0052] It should be noted that in the prior art, when generating lane-level navigation map data, there are as many as 11 production elements in the lane attribute link, and all of them are manually produced by dragging the screen. In addition, due to the requirements of data application rendering, the two marking types of the opposite lane dividing line and the lane edge line cannot be decoupled from other elements (styles). Therefore, when assigning the three marking types, the prior art also needs to consider the style assignment scenario at the same time. Furthermore, when manually identifying the type of lane group, due to the large number of identification rules, manual maintenance is difficult, especially when identifying the type of longitudinal marking, there are more factors to consider, and it is difficult for operators to accurately grasp each relevant attribute, and the identification process is extremely complicated. It can be seen that the prior art has the problems of low recognition efficiency, easy omission, and low accuracy when identifying the type of lane group. Moreover, in the prior art, after the initial production of the lane-level navigation map data is completed, 1-2 quality inspections and acceptances are required. When problems occur, it is necessary to spend manpower to rework and repair, which leads to the problems of long production process and slow data flow.

[0053] In the present disclosure, the distance between the dividing lines in different directions is calculated based on the road network topology map and the lane dividing line information, and the opposite lane dividing lines, the same-direction lane dividing lines and the lane edge lines are divided according to the actual road conditions, thereby achieving the effect of decoupling the lane dividing lines from other elements (styles), thereby meeting the requirements of consistent data application logic, and further reducing the maintenance difficulty and other problems in the data conversion process. In addition, the present disclosure solves the problem of low recognition efficiency when the type of lane group is manually identified by automatically identifying the type of lane group according to the geometric points on the road link. The present disclosure improves the recognition accuracy of the type of lane group by automatically judging the distance between road links and performing extended searches through the road links, which can save a lot of manpower costs when it comes to lane-level navigation map data.

[0054] Based on the contents of step S102 to step S110, it can be known that in the technical solution of the present invention, a method of detecting whether there are other road links in the road section on the left side of any road link is adopted. First, multiple lane groups are identified from the road network topology map, and then the road links of each lane group are obtained based on the head and tail nodes of the longitudinal markings on any side of each lane group, and each road link is traversed to detect whether there are other road links in the road section on the left side of any road link. If so, it is determined that there is a matching interval between the two road links, and based on the coverage rate of the matching interval in each lane group, the type of the lane group is determined, wherein the types of the lane groups include: opposite lane groups and non-opposite lane groups.

[0055] As can be seen from the above content, the present disclosure achieves the effect of converting the lane group in real life into a virtual processable road link by generating the road link of the lane group based on the longitudinal markings of the lane group, thereby providing a data basis for automatically analyzing the type of the lane group based on the road link. On this basis, since the spacing distances between multiple road links in the opposite lane group and the non-opposite lane group are different, the present disclosure can achieve the effect of preliminarily judging the type of the lane group by detecting whether there are other road links in the road section on the left side of any road link. In addition, the present disclosure can also calculate the coverage rate of the matching interval in the lane group based on the matching interval between the two road links, so as to further determine whether the lane group is an opposite lane group based on the coverage rate on the basis of the preliminary judgment of the type of the lane group, thereby achieving the effect of efficiently determining the type of the lane group in an automated manner, and solving the technical problem of low recognition efficiency in the prior art of manually identifying the type of the lane group.

[0056] It can be seen that through the technical solution disclosed in the present invention, the purpose of automatically identifying the type of lane group is achieved, thereby achieving the effect of improving the recognition efficiency of lane group type, and further solving the technical problem of low recognition efficiency in the prior art of manually identifying lane group type.

[0057] In an optional embodiment, the electronic device can obtain multiple longitudinal markings along the traffic direction on one side in any group of lanes, and sequentially connect the ends of the multiple longitudinal markings to obtain the road link of the lane group. At the same time, the electronic device will also record the position information of the head node of each road link. If there are multiple order points in the road link, the road link is disconnected, and the disconnection point is marked as the interruption point.

[0058] Optionally, when the electronic device obtains multiple longitudinal markings along the direction of travel on one side in any group of lane groups, it may choose to obtain multiple longitudinal markings in the direction of travel on the leftmost side of the lane group, and connect the ends of the multiple longitudinal markings in sequence according to the spatial geometric relationship to form several road links of the lane group. The spatial geometric relationship is the spatial coordinates of the point, for example, 1° south latitude, 2° north latitude, etc. At the same time, in order to ensure that the road link is not repeatedly judged, the electronic device can identify multi-order points such as confluence roads and forked roads in the road link (similar to the nodes of river bifurcation), and disconnect the road link when such multi-order points appear, so as to ensure that there are no multi-order points inside each road link, wherein the electronic device marks the disconnection point of the road link as the interruption point, and the electronic device will record the location information of the head node of each road link. The head node is the node marked by the electronic device on each road link.

[0059] In the above process, when there are multi-order points in the road chain, the road chain is disconnected and the disconnection point is marked as a break point, thereby ensuring that there are no multi-order points inside each road chain, thereby avoiding interference from multi-order points such as merging roads and branching roads, and improving the recognition accuracy of electronic equipment when identifying the type of lane group.

[0060] In an optional embodiment, after obtaining the road links of each lane group, the electronic device may use any road link as a road link to be detected, and determine whether there is a matching interval in the road link to be detected, wherein the matching interval is composed of the area between at least two consecutive matching points, and the matching point is any geometric point in the road link to be detected, and there are other road links within a predetermined distance in the left direction from the geometric point.

[0061] Optionally, there may be multiple road links in each lane group, and the electronic device may select any one of the multiple road links as the road link to be detected. After determining the road link to be detected, the electronic device will identify the geometric points in the road link to be detected, and detect whether there are other road links within a predetermined distance in the left direction for each geometric point. During the detection process, the electronic device will determine the geometric points of other road links within the predetermined distance in the left direction as matching points. Furthermore, after obtaining at least one matching point, the electronic device obtains the position information of each matching point, and determines the area formed by at least two consecutive matching points as a matching interval based on the position information.

[0062] It should be noted that by determining the matching interval based on the geometric points on the road link, it can be determined whether there are other road links within a preset distance of the road link to be detected. Therefore, based on the different distance characteristics between the opposite lane and the same-direction lane, the electronic device can automatically identify the type of lane group and mark it, thereby achieving the effect of improving the generation efficiency of lane-level navigation map data.

[0063] In an optional embodiment, the electronic device takes the head node of the road link to be detected as the starting node, sequentially traverses any geometric point on the road link to be detected, and counts whether there are other road links within a predetermined distance to the left of any geometric point. If there are, the geometric point is recorded as a matching point, and other road links associated with the matching point are recorded.

[0064] Optionally, before determining whether there is a matching interval in the road link to be detected, the electronic device needs to first determine the matching points in the road link to be detected and other road links associated with the matching points. Specifically, the electronic device will start from the head node and traverse each geometric point on the road link to be detected in turn. At the same time, based on the spatial geometric relationship, the electronic device will count whether there are other road links within a predetermined distance to the left direction for each geometric point. If there are other road links, the electronic device determines that the geometric point is a matching point. If there are no other road links, the electronic device determines that the geometric point is not a matching point. In addition, the electronic device will record all matching points and other road links associated with each matching point.

[0065] In the above process, by recording the matching points and other road links associated with the matching points, a data basis can be provided for calculating the coverage rate of the matching interval to the lane group, thereby achieving the effect of automatically determining the type of lane group according to the coverage rate.

[0066] In an optional embodiment, in the process of traversing the road link to be detected, if the matching results of two consecutive geometric points are different, the electronic device will calculate the distance between the two geometric points, and if the distance between the two geometric points is greater than a predetermined length, the electronic device will insert a new geometric point between the two geometric points, until any two consecutive geometric points in the road link to be detected have different matching results, and the distance between any two consecutive geometric points is less than the predetermined length.

[0067] Optionally, when the electronic device is traversing the road link to be detected, if it detects that the matching results of two consecutive geometric points are different, that is, one geometric point is a matching point and the other geometric point is not a matching point, in this case, the electronic device will calculate the distance between the two geometric points. If the distance between the two geometric points is greater than a preset length, the electronic device will insert a new geometric point between the two geometric points, wherein the new geometric point is located at the midpoint between the two geometric points. Then, the electronic device re-detects whether the new geometric point is a matching point until it ensures that when the matching results of any two consecutive geometric points in the road link to be detected are different, the distance between the two consecutive geometric points is less than a predetermined length. The predetermined length can be customized by the operator according to actual conditions.

[0068] It should be noted that by setting the preset length, it is ensured that when the matching results of any two consecutive geometric points in the road link to be detected are different, the distance between the two consecutive geometric points is less than the predetermined length, thereby achieving the effect of accurately calculating the matching interval and avoiding the problem of inaccurate matching interval calculation due to the excessively long distance between the geometric points.

[0069] In an optional embodiment, if the matching interval completely covers the longitudinal marking of any lane group, the electronic device will determine that the lane group is an oncoming lane group.

[0070] Optionally, the matching interval has a coverage rate for the lane group, and the electronic device can determine whether the lane group is the target lane group according to the coverage rate. Specifically, if the matching interval completely covers the longitudinal marking of a lane group, it can be regarded that the lane group matches other road links within a predetermined distance in the left direction, and therefore, the electronic device can determine that the lane group is an opposite lane group.

[0071] Optionally, the principle of the electronic device determining the type of lane group according to the matching interval can be learned through the following analysis. Figure 4 and Figure 5 As shown, in Figure 4 In , two adjacent lanes in the lane group are in the same direction, where the leftmost link of lane 1 is link 1, the leftmost link of lane 2 is link 2, the distance between link 1 and link 2 is the first distance, and there is a guardrail between the two lanes; in Figure 5In the example, the two adjacent lanes in the lane group are opposite lanes, wherein the leftmost link of lane 3 is link 3, the leftmost link of lane 4 is link 4, the distance between link 3 and link 4 is the second distance, and there is a guardrail between the two lanes. It is easy to notice that according to the actual road planning and design, the first distance is greater than the second distance. On this basis, when the operator sets the preset distance to be greater than the second distance and less than the first distance, if the lane group is an opposite lane group, the electronic device will obtain multiple matching points, thereby obtaining a larger matching interval, or even a matching interval that completely covers the longitudinal markings of the lane group. In addition, if the lane group is a non-opposite lane group such as a same-direction lane group, the electronic device will not be able to obtain matching points or can only obtain a small number of matching points. It can be seen that when the matching interval completely covers the longitudinal markings of a lane group, the electronic device can determine that the type of the lane group is an opposite lane group.

[0072] In the above process, the effect of automatically determining the type of lane group is achieved by calculating the coverage rate, thereby solving the technical problem of low recognition efficiency in the prior art of manually identifying the type of lane group.

[0073] In an optional embodiment, if the matching interval partially covers the longitudinal markings of any lane group, the electronic device will count the number of road links covered by the matching interval in the lane group, and based on the number of road links, obtain the proportion of the longitudinal markings of the lane group to the total lane length. If the proportion exceeds a threshold, the lane group is determined to be an oncoming lane group.

[0074] Optionally, when the matching interval does not completely cover the longitudinal markings of the lane group, the matching points on the road link to be detected may also match multiple different road links. In this case, for each longitudinal marking of the lane group that is not completely covered, the electronic device can obtain the number of road links in the lane group covered by the matching interval, that is, the overall situation of other road links associated with the matching points, based on the recorded matching points and other road links associated with the matching points. Further, based on the number of other road links associated with the matching points, the electronic device obtains the matching degree of the longitudinal markings of the lane group, that is, the proportion of the longitudinal markings in the matching interval to the total lane length. At the same time, the operator can set a threshold in the electronic device according to actual conditions. When the proportion of the longitudinal markings in the matching interval to the total lane length exceeds the threshold, the electronic device determines that the lane group is an opposite lane group. When the proportion of the longitudinal markings in the matching interval to the total lane length does not exceed the threshold, the electronic device determines that the lane group is a non-opposite lane group.

[0075] It should be noted that by setting a threshold, when the matching interval partially covers the longitudinal markings of any lane group, the electronic device can determine the type of lane group based on the comparison result between the coverage rate and the threshold, thereby further improving the recognition accuracy when identifying the type of lane group, thereby reducing the cost of acquiring lane-level navigation map data.

[0076] In an optional embodiment, when multiple lane groups located at a road interchange are identified from a road network topology map, the electronic device performs hierarchical processing on the multiple lane groups located at the road interchange to obtain multiple lane groups located at different levels, wherein the multiple lane groups deployed in layers constitute an interchange system at the road interchange.

[0077] Optionally, before the electronic device identifies the type of lane group based on the road network topology map, it first needs to identify multiple lane groups located at the road interchange from the road network topology map, wherein the multiple lane groups deployed in layers constitute the interchange system at the road interchange, for example, the interchange bridge in the city, the multi-layer interchange road on the highway, and the interchange tunnel on the mountain road, etc. In practical applications, the relevant data of the lane group are stored in the database, and the database records the location information of the lane group. The electronic device can realize the stratification of the lane group according to the location information of the lane group. For example, at the road interchange, the electronic device performs stratification processing on the multiple lane groups according to the location information and height data of the lane group, so as to separate the lane groups of different levels (i.e., different heights), and obtain the lane groups corresponding to each level, and then the electronic device analyzes the lane groups of each level separately, and identifies the type of the lane group according to the analysis results. Among them, for each level of the lane group, the electronic device uses the above-mentioned method of identifying the type of the lane group according to the matching point to determine the type of the lane group, which will not be repeated here.

[0078] In addition, in the process of identifying the type of lane group, the electronic device will also identify whether the lane group is a lane group in a special scenario, where special scenarios mainly refer to scenarios that have been manually judged and marked, and the marking results are correct and do not need to be modified, such as highways, expressways, etc. The left side of the lane can be directly manually identified as the lane edge line based on common sense. It should be noted that in the road network topology map obtained by the electronic device, the upper-level personnel may have marked the types of some lane groups, but the marked types in some places may be wrong. In response to this situation, the electronic device can not only mark the lane groups that have not been marked by the upper-level personnel, but also correct the incorrectly marked parts.

[0079] It should be noted that by layering the multiple lane groups located at the road interchange, the problem of difficulty in identifying the lane group type due to the superposition of multiple layers of lane groups is avoided. While improving the accuracy of automatic identification of lane group types, the amount of calculation in the analysis process is reduced, thereby improving the recognition efficiency.

[0080] In an optional embodiment, Figure 6 A flow chart of a method for determining a lane group type according to an embodiment of the present disclosure is shown. Figure 6 As shown, after obtaining the road network topology map, the electronic device first identifies multiple lane groups located at the road interchange from the road network topology map, and stratifies the multiple lane groups. After the stratification is completed, for the multiple lane groups in each layer, the electronic device needs to identify whether each lane group belongs to the lane group under the characteristic scene. If a lane group belongs to the lane group under the special scene, no further judgment is required, and the identification process ends. If a lane group does not belong to the lane group under the special scene, multiple corresponding road links are formed for each lane group, and the road link to be detected is determined from the multiple road links. According to the geometric points on the road link to be detected, the electronic device identifies whether there are other road links within a predetermined distance to the left of the lane group. If there are other road links, the lane group is determined to be an opposite lane group. If there are no other road links, the lane group is determined to be a non-opposite lane group. Furthermore, after the electronic device identifies that the lane group is an opposing lane group or a non-opposing lane group, the electronic device will further identify whether the lane group is a special lane group. If the electronic device identifies that the lane group is a special lane group, the lane group will be determined as a characteristic lane group. If the electronic device identifies that the lane group is not a special lane group, the lane group will be determined as the corresponding opposing lane group or non-opposing lane group.

[0081] It should be noted that the present invention automatically determines the type of lane group by detecting whether there are other road links in the road section on the left side of any road link, thereby achieving efficient production of the three basic attributes of the opposite lane group type, the same-direction lane group type, and the lane edge line of the lane-level navigation map data.

[0082] As can be seen from the above content, the present disclosure achieves the effect of converting the lane group in real life into a virtual processable road link by generating the road link of the lane group based on the longitudinal markings of the lane group, thereby providing a data basis for automatically analyzing the type of the lane group based on the road link. On this basis, since the spacing distances between multiple road links in the opposite lane group and the non-opposite lane group are different, the present disclosure can achieve the effect of preliminarily judging the type of the lane group by detecting whether there are other road links in the road section on the left side of any road link. In addition, the present disclosure can also calculate the coverage rate of the matching interval in the lane group based on the matching interval between the two road links, so as to further determine whether the lane group is an opposite lane group based on the coverage rate on the basis of the preliminary judgment of the type of the lane group, thereby achieving the effect of efficiently determining the type of the lane group in an automated manner, solving the technical problem of low recognition efficiency in the prior art of manually identifying the type of the lane group, and thus improving the generation efficiency of lane-level navigation map data.

[0083] It can be seen that through the technical solution disclosed in the present invention, the purpose of automatically identifying the type of lane group is achieved, thereby achieving the effect of improving the recognition efficiency of lane group type, and further solving the technical problem of low recognition efficiency in the prior art of manually identifying lane group type.

[0084] Example 2

[0085] According to another aspect of an embodiment of the present disclosure, a device for determining a lane group type is also provided. Figure 7 is a schematic diagram of a device for determining a lane group type according to an embodiment of the present disclosure, such as Figure 7 As shown, the device may include: an acquisition module 701, which is used to acquire the road links of each lane group based on the first and last nodes of the longitudinal markings on any side of each lane group; a detection module 702, which is used to traverse each road link and detect whether there are other road links in the road section on the left side of any road link; a determination module 703, which is used to determine whether there is a matching interval between the two road links if so; and a type identification module 704, which is used to determine the type of the lane group based on the coverage rate of the matching interval in each lane group, wherein the type of the lane group includes: an opposite lane group and a non-opposite lane group.

[0086] It should be noted that the acquisition module 701 , the detection module 702 , the determination module 703 and the type identification module 704 in this embodiment correspond to steps S102 to S108 in the first embodiment respectively.

[0087] Optionally, the acquisition module further includes: a first acquisition module, a second acquisition module, a recording module and a disconnection module. The first acquisition module is used to acquire multiple longitudinal markings along the traffic direction on one side of any group of lane groups; the second acquisition module is used to connect the ends of the multiple longitudinal markings in sequence to acquire the road links of the lane group; the recording module is used to record the location information of the head node of each road link; the disconnection module is used to disconnect the road link if there are multiple order points in the road link, and the disconnection point is marked as the interruption point.

[0088] Optionally, the above-mentioned detection module also includes: a first determination module, used to take any road link as the road link to be detected, and determine whether there is a matching interval in the road link to be detected, wherein the matching interval is composed of the area between at least two consecutive matching points, and the matching point is any geometric point in the road link to be detected, and the geometric point exists within a predetermined distance in the left direction. Other road links.

[0089] Optionally, the first determination module further includes: a traversal module and a statistical module. The traversal module is used to take the head node of the road link to be detected as the starting node and sequentially traverse any geometric point on the road link to be detected; the statistical module is used to count whether there are other road links within a predetermined distance to the left of any geometric point; if there are, the geometric point is recorded as a matching point, and other road links associated with the matching point are recorded.

[0090] Optionally, the device for determining the lane group type further includes: a calculation module and an insertion module. The calculation module is used to calculate the distance between two geometric points if the matching results of two consecutive geometric points are different during the process of traversing the road link to be detected; the insertion module is used to insert a new geometric point between the two geometric points if the distance between the two geometric points is greater than a predetermined length, until the distance between any two consecutive geometric points in the road link to be detected is less than the predetermined length when the matching results of any two consecutive geometric points are different.

[0091] Optionally, the type identification module further includes: a second determination module, configured to determine that a lane group is an oncoming lane group if the matching interval completely covers the longitudinal marking of any lane group.

[0092] Optionally, the type identification module further includes: a first statistical module, a third acquisition module and a third determination module. The first statistical module is used to count the number of road links in the lane group covered by the matching interval if the matching interval partially covers the longitudinal marking of any lane group; the third acquisition module is used to obtain the ratio of the longitudinal marking of the lane group to the total lane length based on the number of road links; the third determination module is used to determine that the lane group is an opposite lane group if the ratio exceeds a threshold.

[0093] Optionally, the device for determining the lane group type also includes: a hierarchical processing module, which is used to perform hierarchical processing on the multiple lane groups located at the road interchange when multiple lane groups located at the road interchange are identified from the road network topology map, so as to obtain multiple lane groups located at different levels, wherein the multiple lane groups deployed in layers constitute the interchange system at the road interchange.

[0094] Example 3

[0095] According to another aspect of the embodiments of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is also provided, wherein the computer instructions are used to enable a computer to execute the method for determining the lane group type in the above-mentioned embodiment 1.

[0096] Example 4

[0097] According to another aspect of the embodiments of the present disclosure, a computer program product is also provided, including a computer program, and when the computer program is executed by a processor, the method for determining the lane group type in the above-mentioned embodiment 1 is implemented.

[0098] Example 5

[0099] According to another aspect of an embodiment of the present disclosure, an electronic device is also provided, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable 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 the method for determining the lane group type in the above-mentioned embodiment 1.

[0100] Figure 8 A schematic block diagram of an example electronic device 800 that can be used to implement an embodiment 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 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0101] like Figure 8As shown, the device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0102] A number of components in the device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0103] The computing unit 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 801 performs the various methods and processes described above, such as the method for determining the lane group type. For example, in some embodiments, the method for determining the lane group type may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the method for determining the lane group type described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the method for determining the lane group type in any other appropriate manner (e.g., by means of firmware).

[0104] Various implementations 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 chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0105] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0106] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0107] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the 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 acoustic input, voice input, or tactile input).

[0108] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0109] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0110] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0111] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for determining a lane group type, comprising: Identify multiple lane groups from the road network topology map; Based on the first and last nodes of the longitudinal markings on any side of each lane group, obtaining the road links of each lane group; Traverse each road link and check whether there are other road links in the road section to the left of any road link; If so, it is determined that there is a matching interval between the two road links, wherein the matching interval is composed of an area between at least two consecutive matching points, and the matching point is any geometric point in the road link to be detected, and the geometric point is within a predetermined distance in the left direction from the other road link; If the matching interval completely covers the longitudinal markings of any lane group, the lane group is determined to be the opposite lane group; if the matching interval partially covers the longitudinal markings of any lane group, the number of road links in the lane group covered by the matching interval is counted, and the proportion of the longitudinal markings of the lane group to the total lane length is obtained based on the number of road links, and if the proportion exceeds a threshold, the lane group is determined to be the opposite lane group.

2. The method according to claim 1, wherein: Based on the first and last nodes of the longitudinal markings on any side of each lane group, the road links of each lane group are obtained, including: Obtain multiple longitudinal markings along the travel direction of one side in any lane group; Connecting the ends of the plurality of longitudinal marking lines in sequence to obtain a road link of the lane group; Record the location information of the head node of each link; If there are multiple-order points in the link, the link is disconnected, and the disconnection point is marked as a break point.

3. The method according to claim 1, wherein: Check whether there are other links in the road section to the left of any link, including: The arbitrary road link is used as the road link to be detected, and it is determined whether the matching interval exists in the road link to be detected.

4. The method according to claim 3, determining whether the matching interval exists in the to-be-detected road link, comprises: Taking the head node of the road link to be detected as the starting node, traverse any geometric point in the road link to be detected in sequence; Counting whether any one of the geometric points is within a predetermined distance in the left direction and whether there is another link; If it exists, the geometric point is recorded as the matching point, and other road links associated with the matching point are recorded.

5. The method according to claim 4, further comprising: In the process of traversing the road link to be detected, if the matching results of two consecutive geometric points are different, calculating the distance between the two geometric points; If the distance between the two geometric points is greater than a predetermined length, a new geometric point is inserted between the two geometric points until the distance between any two consecutive geometric points in the road link to be detected is less than the predetermined length when the matching results are different.

6. The method according to claim 1, further comprising: When multiple lane groups located at a road interchange are identified from the road network topology map, the multiple lane groups located at the road interchange are layered to obtain multiple lane groups located at different levels, wherein the multiple lane groups deployed in layers constitute an interchange system at the road interchange.

7. A device for determining a lane group type, comprising: An identification module, used for identifying multiple lane groups from a road network topology map; An acquisition module, used for acquiring the road links of each lane group based on the first and last nodes of the longitudinal marking lines on any side of each lane group; A detection module is used to traverse each road link and detect whether there are other road links in the road section on the left side of any road link; a determination module, configured to determine that a matching interval exists between the two road links if such a matching interval exists, wherein the matching interval is formed by an area between at least two consecutive matching points, wherein the matching point is any geometric point in the road link to be detected, and the geometric point exists within a predetermined distance in a left direction from the other road link; The type identification module is used to: if the matching interval completely covers the longitudinal markings of any lane group, determine that the lane group is an opposite lane group; if the matching interval partially covers the longitudinal markings of any lane group, count the number of road links in the lane group covered by the matching interval, obtain the proportion of the longitudinal markings of the lane group to the total lane length based on the number of road links, and if the proportion exceeds a threshold, determine that the lane group is the opposite lane group.

8. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable 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 for determining a lane group type according to any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause a computer to execute the method for determining a lane group type according to any one of claims 1 to 6. 10 . A computer program product, comprising a computer program, which, when executed by a processor, implements the method for determining a lane group type according to any one of claims 1 to 6.

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