Map updating method, device, electronic device and storage medium

Abstract

The present disclosure provides a map update and map navigation method, device, electronic device, and storage medium, relating to the fields of data processing technology, specifically autonomous driving and intelligent transportation technology. A specific implementation scheme comprises: obtaining the prohibited location of a no-U-turn sign, querying the corresponding node location, and the single-lane, two-way road at the node location; determining the prohibited U-turn information for the single-lane, two-way road based on the corresponding node location; and updating the corresponding single-lane, two-way road information in the map based on the prohibited U-turn information. Embodiments of the present disclosure can improve map accuracy.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing technology, specifically the field of autonomous driving and intelligent transportation technology, and more particularly to a map updating method, device, electronic device, and storage medium. Background Art

[0002] Traditional electronic map road network data consists of road topology data related to road geometry and topological connections. Its biggest feature is that a road in the real world is abstracted into a line, and all attribute information is recorded based on this road line.

[0003] Navigation electronic map road network data can provide navigation services for users. Navigation route planning calculates the passable lines between the starting point and the end point to form a route. If there are traffic regulations between the lines, they are considered impassable. Summary of the Invention

[0004] The present disclosure provides a map updating method, device, electronic device and storage medium.

[0005] According to one aspect of the present disclosure, a map updating method is provided, comprising:

[0006] Obtain the prohibited position of the no-U-turn sign, and query the corresponding node position and the single-lane two-way road at the node position;

[0007] Determining the prohibited U-turn information of the single-lane two-way road according to the corresponding node position;

[0008] According to the U-turn prohibition information, the information of the corresponding single-lane two-way road is updated in the map.

[0009] According to another aspect of the present disclosure, a map navigation method is provided, comprising:

[0010] Determining a planned route corresponding to the single-lane two-way road according to the prohibited U-turn information of the single-lane two-way road included in the map;

[0011] The map is determined by a map updating method as described in any one of the embodiments of the present disclosure.

[0012] According to one aspect of the present disclosure, a map updating device is provided, comprising:

[0013] A position information acquisition module is used to obtain the prohibited position of the no-U-turn sign and query the corresponding node position and the single-line two-way road at the node position;

[0014] a prohibited U-turn determining module, configured to determine prohibited U-turn information on the single-lane two-way road according to the corresponding node position;

[0015] A map updating module is used to update the information of the corresponding single-lane two-way road in the map according to the prohibited U-turn information.

[0016] According to another aspect of the present disclosure, a map navigation device is provided, comprising:

[0017] a route planning module, configured to determine a planned route corresponding to the single-lane two-way road according to the prohibited U-turn information of the single-lane two-way road included in the map;

[0018] The map is determined by a map updating method as described in any one of the embodiments of the present disclosure.

[0019] According to another aspect of the present disclosure, there is provided an electronic device, comprising:

[0020] at least one processor; and

[0021] a memory communicatively connected to the at least one processor; wherein,

[0022] 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 execute the map updating method described in any embodiment of the present disclosure, or execute the map navigation method described in any embodiment of the present disclosure.

[0023] 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 the computer to execute the map updating method described in any embodiment of the present disclosure, or execute the map navigation method described in any embodiment of the present disclosure.

[0024] According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the map updating method described in any embodiment of the present disclosure, or executes the map navigation method described in any embodiment of the present disclosure.

[0025] The embodiments of the present disclosure can improve the accuracy of maps.

[0026] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0028] Figure 1is a schematic diagram of a map updating method disclosed in an embodiment of the present disclosure;

[0029] Figure 2 It is a schematic diagram of an existing two-lane, two-way road;

[0030] Figure 3 is a schematic diagram of a single-lane two-way road according to an embodiment of the present disclosure;

[0031] Figure 4 is a schematic diagram of another map updating method disclosed in an embodiment of the present disclosure;

[0032] Figure 5 is a scene graph of another map updating method disclosed in an embodiment of the present disclosure;

[0033] Figure 6 is a schematic diagram of the prohibited U-turn information disclosed according to an embodiment of the present disclosure;

[0034] Figure 7 This is a schematic diagram of a map navigation method disclosed in an embodiment of the present disclosure.

[0035] Figure 8 is a structural diagram of a map updating device disclosed in an embodiment of the present disclosure;

[0036] Figure 9 is a structural diagram of a map navigation device disclosed in an embodiment of the present disclosure;

[0037] Figure 10 It is a block diagram of an electronic device used to implement the map updating method or map navigation method according to the embodiment of the present disclosure. DETAILED DESCRIPTION

[0038] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize 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.

[0039] Figure 1 This is a flowchart of a map updating method according to an embodiment of the present disclosure. This embodiment is applicable to adding information prohibiting U-turns on single-lane, two-way roads to a map. The method of this embodiment can be executed by a map updating device, which can be implemented using software and / or hardware and is specifically configured in an electronic device with certain data processing capabilities. The electronic device can be a client device or a server device. Client devices include mobile phones, tablet computers, in-vehicle terminals, and desktop computers.

[0040] S101, obtaining a prohibited position of a prohibited U-turn sign, and querying a corresponding node position and a single-lane two-way road at the node position.

[0041] The no-U-turn sign may refer to a sign prohibiting a U-turn. The prohibited location may refer to the geographical location of the no-U-turn sign.

[0042] A node location may refer to the location of a road node that matches a prohibited location. Typically, a road is defined by connecting two road nodes. Based on the prohibited location and the location of each road node, the road node closest to the prohibited location can be queried and identified as the road node at the corresponding node location, with its location also being determined as the node location corresponding to the prohibited location. The road formed by the road node at the node location is a single-lane, two-way road at the node location. Specifically, the road formed by the line connecting the road node at the corresponding node location and another geographically adjacent road node is determined to be a single-lane, two-way road at the node location.

[0043] A single-lane, two-way road is a road that abstracts a real-world two-way road into a single line, representing both directions. Typically, this single-lane, two-way road is represented as just one line in map data. Another type of road is a two-lane, two-way road. Specifically, this road is an abstraction of a real-world two-way road into two lines, with one line representing only one direction.

[0044] S102: Determine the prohibited U-turn information of the single-lane two-way road according to the corresponding node position.

[0045] The node location is used to determine the direction in which U-turns are prohibited on a single-lane, two-way road. The prohibited U-turn information is used to identify the direction in which U-turns are prohibited on the single-lane, two-way road. The prohibited U-turn information can be determined based on the direction in which U-turns are prohibited on the single-lane, two-way road. Exemplarily, the prohibited U-turn information may include a field and an attribute value, wherein the field indicates the prohibited U-turn information for the single-lane, two-way road, and the attribute value indicates whether U-turns are prohibited on the single-lane, two-way road, and the direction in which U-turns are prohibited.

[0046] No-U-turn information can be determined based on the relationship between the node position and the single-lane, two-way road. The road direction is the direction from the direction start node to the direction end node. For example, the prohibited position is typically the location of the direction end node for a particular direction. Thus, the relationship between the node position and the locations of the direction end nodes for each direction on the single-lane, two-way road can be detected. The direction of the direction end node at the node position is determined as the prohibited U-turn direction, and no-U-turn information for the single-lane, two-way road is generated.

[0047] S103: Update the corresponding single-lane two-way road information in the map according to the U-turn prohibition information.

[0048] The map stores information about single-lane two-way roads. The information about single-lane two-way roads is used to describe the attribute information of the single-lane two-way roads. The information about single-lane two-way roads may include an entry line identifier (inlinkid), an exit line identifier (outlinkid), node identifiers (snodeid and enodeid) that constitute the road, and a predetermined direction (direction). The entry line identifier and the exit line identifier are the same. In the case where the road is a two-lane two-way road, the entry line identifier and the exit line identifier are different. Updating the information about the single-lane two-way road based on the prohibited U-turn information may be to add the prohibited U-turn information on the basis of the existing information. When the map is used for navigation or display functions, the direction of the next route exiting the single-lane two-way road may be determined based on whether the single-lane two-way road included in the map has prohibited U-turn information.

[0049] Specifically, prohibited U-turn information may refer to information added to the information for single-lane, two-way roads, indicating the directions in which U-turns are prohibited. To reduce the cost of modifying the existing usage logic of map data, a field can be added to the existing information in the single-lane, two-way road information to supplement the prohibited U-turn information. For example, prohibited U-turn information may be added for existing node identifiers or for existing predetermined directions.

[0050] In the prior art, for example Figure 2 In the application scenario of a two-lane two-way road shown in the figure, the actual road is abstracted into Line A and Line B. From the figure, we can see that Line A is prohibited from turning around and Line B is prohibited from turning around. It can be clearly seen that the road is from east to west and U-turns are prohibited. Figure 3 In the application scenario of the single-line two-way road map shown, a road has only one line to represent two-way travel, that is, the actual road is abstracted as Line A. For example, when U-turns are prohibited when traveling from east to west, since both the east-west and west-east directions are represented as Line A and U-turns are prohibited, it is unclear which direction U-turns are prohibited.

[0051] According to the technical solution disclosed in the present invention, by finding the prohibited position of the prohibited U-turn sign and querying the corresponding node position, as well as the single-lane two-way road at the node position, it is determined that there is a single-lane two-way road where U-turns are prohibited, and based on the node position, the prohibited U-turn information of the single-lane two-way road is determined, and the map is updated. It is possible to accurately detect the prohibited U-turn direction of the single-lane two-way road, generate information expressing the prohibited U-turn direction, and update it to the map data, thereby improving the accuracy of prohibited U-turn detection and improving map accuracy.

[0052] Figure 4This is a flowchart of another map updating method disclosed in an embodiment of the present disclosure, which is further optimized and expanded based on the above technical solution and can be combined with the above optional implementations. The prohibited U-turn information includes at least one of the following: a prohibited U-turn direction and a prohibited U-turn node.

[0053] S401: Obtain a prohibited position of a prohibited U-turn sign, and query a corresponding node position and a single-lane two-way road at the node position.

[0054] Optionally, obtaining the prohibited position of the no-U-turn sign includes: obtaining a road collection image and detecting the no-U-turn sign; obtaining a collection position of the road collection image and determining it as the prohibited position of the no-U-turn sign.

[0055] The road image may be an image formed by capturing the road. It may be an image directly captured from the road, or an image selected from a video recorded from the road. The road image may be captured by a road capturing vehicle.

[0056] No U-turn signs are used to identify roads where U-turns are prohibited and directions where U-turns are prohibited. The no U-turn sign may refer to a signboard including a no U-turn arrow. To identify the no U-turn sign in an image, a pre-trained image recognition model may be used to identify the no U-turn sign in a road capture image. The capture position refers to the position of the capture device when capturing the road capture image. Typically, during image capture, the positioning information of the capture device is recorded, and the positioning information during image capture is determined as the capture position of the captured road capture image. The capture position of the road capture image where the no U-turn sign is identified is determined as the prohibited position of the identified no U-turn sign.

[0057] By identifying the no-U-turn sign on the road image and detecting the acquisition position, the prohibited position of the no-U-turn sign is determined, and the direction and position of the prohibited U-turn can be accurately detected, thereby improving the detection accuracy of the prohibited U-turn information.

[0058] S402 : Determine prohibited U-turn information of the single-lane two-way road according to the corresponding node position, where the prohibited U-turn information includes at least one of the following: a prohibited U-turn direction and a prohibited U-turn node.

[0059] No-U-turn information describes the directions where U-turns are prohibited on a single-lane, two-way road, using prohibited U-turn directions or prohibited U-turn nodes. In practice, the information on a single-lane, two-way road in a map includes direction information and node information. In other words, the existing information on a single-lane, two-way road includes directions and nodes. Therefore, prohibited content can be added based on the existing directions or nodes to indicate the directions where U-turns are prohibited on a single-lane, two-way road. A prohibited U-turn direction can refer to a direction on a single-lane, two-way road where U-turns are prohibited. A prohibited U-turn node can refer to a node on a single-lane, two-way road where U-turns from a first direction to a second direction are prohibited.

[0060] S403: Update the corresponding single-lane two-way road information in the map according to the U-turn prohibition information.

[0061] Optionally, determining the prohibited U-turn information of the single-lane two-way road based on the corresponding node position includes: obtaining a predetermined direction of the single-lane two-way road; determining a prohibited U-turn direction in each predetermined direction based on the node position; and determining the prohibited U-turn direction as the prohibited U-turn information.

[0062] The predetermined direction refers to a predefined direction of a single-lane two-way road. In practice, on a map, a single-lane two-way road represents a road and two directions, and the two directions are determined as predetermined directions. Exemplarily, the predetermined direction includes a first direction or a second direction.

[0063] In practice, whether the predetermined direction is a prohibited U-turn direction can be determined based on the road node at the node location and the relationship between the road node and the predetermined direction. Specifically, if the road node is the end node of a direction forming the predetermined direction, the predetermined direction can be determined as a prohibited U-turn direction and the prohibited U-turn information can be determined.

[0064] The prohibited U-turn information may include descriptive information indicating that U-turns are prohibited for a predetermined direction. For example, the prohibited U-turn information may be an attribute value in a field indicating a predetermined direction. Adding the prohibited U-turn information may involve adding an attribute value to the field indicating the direction in which U-turns are prohibited. For example, setting the attribute value of the predetermined direction field to 1 indicates that U-turns are prohibited for the predetermined direction. For another example, setting the attribute value of the predetermined direction field to 0 indicates that U-turns are permitted for the predetermined direction, i.e., a direction that is not prohibited for U-turns.

[0065] It should be noted that in the current application scenario of single-lane two-way roads, the predetermined direction will be applied in the navigation route planning. Therefore, the prohibited U-turn information can be selected to include the prohibited U-turn direction, reducing the need to significantly modify the application logic of the map due to the addition of additional information, thereby reducing the development and modification costs of the map application and improving the efficiency of the prohibited U-turn information.

[0066] By obtaining the predetermined direction of a single-lane two-way road, and filtering out the prohibited U-turn direction from the predetermined direction according to the node position, and determining the prohibited U-turn direction as the prohibited U-turn information, the direction of the road where U-turn is prohibited can be accurately detected, and the direction where U-turn is prohibited can be accurately described, thereby improving the detection accuracy of the prohibited U-turn information.

[0067] Optionally, determining the prohibited U-turn information of the single-lane two-way road according to the corresponding node position includes: obtaining road nodes of the single-lane two-way road, the road nodes including a drawing start node and a drawing end node; determining a prohibited U-turn node in each of the road nodes according to the node position; and determining the prohibited U-turn node as the prohibited U-turn information.

[0068] Road nodes are predefined nodes that make up a single-line, two-way road. In practice, on a map, a single-line, two-way road represents a road formed by connecting two road nodes and two predetermined directions. Predetermined directions include a first direction and a second direction. The first direction is the direction from the drawing start node to the drawing end node; the second direction is the direction from the drawing end node to the drawing start node. Furthermore, the first direction can be called the forward direction, and the second direction can be called the reverse direction.

[0069] The prohibited U-turn node is a road node at the node position. In fact, the direction is the direction from the direction start node to the direction end node. The direction end node of the first direction is the drawing end node, and the direction end node of the second direction is the drawing start node. The prohibited U-turn node is usually located at the direction end node, so the direction in which U-turn is prohibited can be determined according to the type of the direction end node (i.e., whether it is a drawing start node or a drawing end node). In the case where the prohibited U-turn node is the drawing end node, the first direction is determined as the direction in which U-turn is prohibited; in the case where the prohibited U-turn node is the drawing start node, the second direction is determined as the direction in which U-turn is prohibited. Therefore, according to the type of the prohibited U-turn node, the direction in which U-turn is prohibited can be determined, so that the prohibited U-turn node can be determined as prohibited U-turn information.

[0070] The prohibited U-turn information can be descriptive information for adding prohibited U-turns to a road node. For example, the prohibited U-turn information can be the attribute value of a field representing a road node. Adding the prohibited U-turn information can be adding an attribute value to the field that identifies the prohibited U-turn direction. For example, configuring the attribute value of the field for drawing the starting node to 1 indicates that the second direction, with the starting node being drawn as the end node, is a prohibited U-turn direction. For another example, configuring the attribute value of the field for drawing the end node to 0 indicates that the first direction, with the starting node being drawn as the end node, is a permitted U-turn direction, i.e., a non-prohibited U-turn direction.

[0071] By obtaining the road nodes of a single-line two-way road and filtering out the prohibited U-turn nodes from the road nodes according to the node positions, and determining the prohibited U-turn nodes as prohibited U-turn information, the direction where U-turn is prohibited on the road can be accurately detected, and the direction where U-turn is prohibited can be accurately described, thereby improving the detection accuracy of the prohibited U-turn information.

[0072] Optionally, determining the prohibited U-turn direction in each of the predetermined directions based on the node position includes: obtaining the direction end node associated with each of the predetermined directions; determining the corresponding direction end node based on the node position; and determining the predetermined direction associated with the corresponding direction end node as the prohibited U-turn direction; wherein the predetermined direction is the direction from the direction start node to the direction end node.

[0073] A predetermined direction is the direction from a direction start node to a direction end node. The direction end node corresponding to a node position is a road node located at the node position, and this road node is the direction end node for a predetermined direction. The predetermined direction associated with a corresponding direction end node is the predetermined direction that determines the corresponding direction end node as the direction end node, i.e., the position of the direction end node for the predetermined direction is the same as or close to the node position.

[0074] By detecting the relationship between the position of the direction end node and the node position of the predetermined direction, the prohibited U-turn direction can be accurately detected, thereby improving the accuracy of the prohibited U-turn information.

[0075] According to the technical solution disclosed in the present invention, by configuring the prohibited U-turn information including the prohibited U-turn direction and the prohibited U-turn node, the U-turn direction to be prohibited can be accurately described for a single-lane two-way road, thereby improving the accuracy of the prohibited information and the accuracy of the map. At the same time, information is added to the existing information of the single-lane two-way road to describe the prohibited U-turn direction, thereby reducing the cost of adding the prohibited U-turn information and reducing the cost of modifying the map.

[0076] Figure 5 This is a scene diagram of another map updating method disclosed in an embodiment of the present disclosure. The map updating method may include:

[0077] S501: Obtain a prohibited position of a prohibited U-turn sign, and query a corresponding node position and a single-lane two-way road at the node position.

[0078] Based on the prohibited location, the corresponding node location and the road node at the node location are determined. This is actually to determine the node with traffic restrictions, which is equivalent to determining the node ID (node ​​ID) with traffic restrictions. Based on the node ID, the single-line two-way road formed by the node is queried.

[0079] S502: Acquire a predetermined direction of the single-lane two-way road.

[0080] For example, Figure 6 As shown, for a predetermined direction: the direction from the drawing start node (snode) to the drawing end node (enode) is the first direction, usually defined as the forward direction, and the direction from the drawing end node (enode) to the drawing start node (snode) is the second direction, usually defined as the reverse direction. As shown in Table 1, the information of a single-line two-way road defined in the map includes:

[0081] Table 1

[0082]

[0083] For a single-lane two-way road, the inlinkid and outlinkid are the same.

[0084] S503: Determine a prohibited U-turn direction in each of the predetermined directions according to the node position.

[0085] Based on the node location, the node ID (nodeid) of the node with traffic restrictions is determined. If the Nodeid is the end node enode, it is determined that U-turns are prohibited in the forward direction. If the Nodeid is the start node snode, it is determined that U-turns are prohibited in the reverse direction.

[0086] S504: Determine the prohibited U-turn direction as prohibited U-turn information.

[0087] The prohibited U-turn information may include an attribute value for the prohibited U-turn direction. The attribute value for the prohibited U-turn direction may be set to 1, and the attribute value for the direction in which U-turn is permitted may be 0. For example, as shown in Table 2, the Nodeid is the drawing end node enode, and the attribute value for the reverse direction is 1.

[0088] Table 2

[0089]

[0090] S505: Update the corresponding single-lane two-way road information in the map according to the U-turn prohibition information.

[0091] In addition, the ID of a single-line two-way road can be disassembled to express the direction by adding a digit at the end of the license plate. However, this method significantly modifies the original map application logic, making it more difficult to implement.

[0092] According to the technical solution disclosed herein, there is no need to manually express the directions where U-turns are prohibited on each single-lane, two-way road. Instead, the topological relationship only needs to be established between traffic regulations and road nodes. Information about the forward and reverse directions of the road can be automatically generated by a program, allowing for clear and accurate identification of the specific locations where U-turns are prohibited. This expands the basic road network data representation elements, resolving the issue of the inability to express U-turn prohibitions on single-lane roads. A new data model based on traditional navigation electronic map specifications is proposed to express U-turn prohibition information on single-lane roads, providing users with a more accurate navigation solution that fully utilizes the existing elements of the basic road network. This solves a long-standing problem by simply adding a single field calculation, without disrupting the navigation route planning infrastructure and achieving low cost. This solution provides fundamental data modeling ideas and supports the application of strategies within traditional electronic map road network data.

[0093] Figure 7 This is a flowchart of a map navigation method according to an embodiment of the present disclosure. This embodiment is applicable to route planning based on a map with prohibited U-turn restrictions. The method of this embodiment can be executed by a map update device, which can be implemented using software and / or hardware and is specifically configured in an electronic device with certain data processing capabilities. The electronic device can be a client device or a server device. Client devices include mobile phones, tablet computers, vehicle-mounted terminals, and desktop computers.

[0094] S701, determining a planned route corresponding to a single-lane two-way road according to prohibited U-turn information of the single-lane two-way road included in a map; wherein the map is determined by the map updating method as described in any embodiment of the present disclosure.

[0095] A single-lane two-way road in a map may have information prohibiting U-turns. Based on the existing information prohibiting U-turns, when planning a route, avoid planning a route that travels in the direction where U-turns are prohibited.

[0096] Optionally, determining the planned route corresponding to the single-lane two-way road based on the prohibited U-turn information of the single-lane two-way road included in the map includes: when the planned route includes a single-lane two-way road with prohibited U-turn information, obtaining the target entry direction of the single-lane two-way road; determining the target exit direction of the single-lane two-way road and the next road corresponding to the target exit direction based on the target entry direction and the prohibited U-turn information corresponding to the single-lane two-way road, so as to continue to determine the planned route.

[0097] The target entry direction is used to determine the driving direction of the single-lane two-way road in the planned route. The target entry direction can refer to the direction of entering the single-lane two-way road, or it can indicate the direction of driving on the single-lane two-way road. The target exit direction is used to determine the driving direction after the single-lane two-way road in the planned route. The target exit direction can refer to the direction of leaving the current single-lane two-way road, or it can indicate the driving direction to the next single-lane two-way road after leaving the current single-lane two-way road. Usually, the target exit direction is the direction from the current single-lane two-way road to the next single-lane two-way road. The next road corresponding to the target exit direction refers to the single-lane two-way road that is entered after leaving the current single-lane two-way road. The planned route is actually a route formed by connecting multiple single-lane two-way roads. Passable single-lane two-way roads are detected in sequence on the roads between the route starting point and the route end point, and connected to form the planned route.

[0098] If the current single-lane, two-way road has a prohibited U-turn information, the prohibited U-turn direction is detected based on the prohibited U-turn information and matched with the target entry direction. If the target entry direction is the same as the prohibited U-turn direction, it indicates that the current single-lane, two-way road cannot U-turn to the current single-lane, two-way road. Therefore, the current single-lane, two-way road direction is excluded from the target exit direction. This means that the next road corresponding to the target exit direction is not the current single-lane, two-way road, thus avoiding the existence of prohibited routes in the planned route.

[0099] Exemplarily, based on the prohibited U-turn information on a single-lane two-way road, the first direction of the single-lane two-way road is determined to be a prohibited U-turn direction. When the target entry direction is consistent with the first direction, the target exit direction is determined to be different from the second direction, that is, for the single-lane two-way road, it is not possible to drive into the second direction from the first direction. It can be understood that in the planned route, the next road of the single-lane two-way road cannot be the single-lane two-way road itself. In particular, when the prohibited U-turn information includes a prohibited U-turn direction, it is possible to detect whether the first direction and the second direction are prohibited U-turn directions. When the prohibited U-turn information includes a prohibited U-turn node, it is possible to detect whether the prohibited U-turn node is a drawing start node or a drawing end node, thereby detecting whether the first direction and the second direction are prohibited U-turn directions.

[0100] By pre-adding the prohibited U-turn information to the map, the target exit direction of the single-line two-way road that the planned route passes through is determined to avoid the target exit direction overlapping with the prohibited U-turn direction, thereby determining the next road on the single-line two-way road, realizing continuous route planning and improving route planning accuracy.

[0101] According to the technical solution disclosed in the present invention, by adding the prohibited U-turn information of the single-line two-way road to the map, the accuracy of the map is improved, thereby navigating based on the map and improving the accuracy of the navigation route.

[0102] According to an embodiment of the present disclosure, Figure 8 This is a block diagram of a map updating device in an embodiment of the present disclosure. This embodiment is applicable to adding information about prohibited U-turn restrictions on single-lane, two-way roads to a map. The device is implemented using software and / or hardware and is specifically configured in an electronic device with sufficient data processing capabilities.

[0103] like Figure 8 The map updating device 800 shown in FIG. 8 includes: a location information acquisition module 801, a prohibited U-turn determination module 802, and a map updating module 803; wherein,

[0104] The position information acquisition module 801 is used to obtain the prohibited position of the no-U-turn sign and query the corresponding node position and the single-lane two-way road at the node position;

[0105] A prohibited U-turn determining module 802 is configured to determine prohibited U-turn information on the single-lane two-way road according to the corresponding node position;

[0106] The map updating module 803 is configured to update the corresponding single-lane two-way road information in the map according to the prohibited U-turn information.

[0107] According to the technical solution disclosed in the present invention, by finding the prohibited position of the prohibited U-turn sign and querying the corresponding node position, as well as the single-lane two-way road at the node position, it is determined that there is a single-lane two-way road where U-turns are prohibited, and based on the node position, the prohibited U-turn information of the single-lane two-way road is determined, and the map is updated. It is possible to accurately detect the prohibited U-turn direction of the single-lane two-way road, generate information expressing the prohibited U-turn direction, and update it to the map data, thereby improving the accuracy of prohibited U-turn detection and improving map accuracy.

[0108] Furthermore, the prohibited U-turn information includes at least one of the following: a prohibited U-turn direction and a prohibited U-turn node.

[0109] Furthermore, the prohibited U-turn determination module 802 includes: a road predetermined direction determination unit, used to obtain the predetermined direction of the single-lane two-way road; a prohibited U-turn direction determination unit, used to determine a prohibited U-turn direction in each of the predetermined directions based on the node position; and a prohibited U-turn information determination unit, used to determine the prohibited U-turn direction as prohibited U-turn information.

[0110] Furthermore, the prohibited U-turn direction determination unit includes: a direction end node acquisition subunit, used to obtain the direction end node associated with each of the predetermined directions; a direction end node matching subunit, used to determine the corresponding direction end node based on the node position; and a predetermined direction matching subunit, used to determine the predetermined direction associated with the corresponding direction end node as a prohibited U-turn direction; wherein, the predetermined direction is the direction from the direction start node to the direction end node.

[0111] Furthermore, the position information acquisition module 801 includes: a prohibition sign recognition unit, used to acquire a road collection image and detect a prohibition U-turn sign; a prohibition position detection unit, used to acquire the collection position of the road collection image and determine it as the prohibition position information of the prohibition U-turn sign.

[0112] The above-mentioned map updating device can execute the map updating method provided by any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects for executing the map updating method.

[0113] According to an embodiment of the present disclosure, Figure 9 This is a block diagram of a map navigation device in an embodiment of the present disclosure. This embodiment is applicable to route planning based on a map with prohibited U-turn restrictions. The device is implemented using software and / or hardware and is specifically configured in an electronic device with sufficient data processing capabilities.

[0114] like Figure 9 The map navigation device 900 shown includes a route planning module 901; wherein,

[0115] The route planning module 901 is used to determine the planned route corresponding to the single-lane two-way road according to the prohibited U-turn information of the single-lane two-way road included in the map; wherein the map is determined by the map updating method as described in any embodiment of the present disclosure.

[0116] According to the technical solution disclosed in the present invention, by adding the prohibited U-turn information of the single-line two-way road to the map, the accuracy of the map is improved, thereby navigating based on the map and improving the accuracy of the navigation route.

[0117] Furthermore, the route planning module 901 includes: an entry direction detection unit, which is used to obtain the target entry direction of the single-line two-way road when the planned route includes the single-line two-way road; an exit direction detection unit, which is used to determine the target exit direction of the single-line two-way road and the next road corresponding to the target exit direction based on the target entry direction and the no-U-turn information corresponding to the single-line two-way road, so as to continue to determine the planned route.

[0118] The above-mentioned map navigation device can execute the map navigation method provided by any embodiment of the present disclosure, and has corresponding functional modules and beneficial effects for executing the map navigation method.

[0119] In the technical solutions disclosed herein, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0120] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0121] Figure 10 A schematic area diagram of an example electronic device 1000 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided as examples only and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0122] like Figure 10 As shown, the device 1000 includes a computing unit 1001, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a random access memory (RAM) 1003. Various programs and data required for the operation of the device 1000 can also be stored in the RAM 1003. The computing unit 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0123] Various components in device 1000 are connected to I / O interface 1005, including an input unit 1006, such as a keyboard, mouse, etc.; an output unit 1007, such as various types of displays, speakers, etc.; a storage unit 1008, such as a magnetic disk, optical disk, etc.; and a communication unit 1009, such as a network card, modem, wireless communication transceiver, etc. The communication unit 1009 allows device 1000 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0124] The computing unit 1001 can be a variety of general-purpose and / or specialized processing components with processing and computing capabilities. Some examples of the computing unit 1001 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 that run machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 1001 performs the various methods and processes described above, such as the map update method or the map navigation method. For example, in some embodiments, the map update method or the map navigation method can be implemented as a computer software program that is tangibly embodied in a machine-readable medium, such as the storage unit 1008. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 1000 via the ROM 1002 and / or the communication unit 1009. When the computer program is loaded into the RAM 1003 and executed by the computing unit 1001, one or more steps of the map update method or the map navigation method described above can be performed. Alternatively, in other embodiments, the computing unit 1001 may be configured to execute the map updating method or the map navigation method in any other appropriate manner (eg, by means of firmware).

[0125] Various embodiments of the systems and techniques described above 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), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes 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.

[0126] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or area diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0127] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can 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 can 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.

[0128] 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).

[0129] The systems and techniques described herein can 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 having 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 can 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.

[0130] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The client-server relationship arises through computer programs running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, a server in a distributed system, or a server integrated with a blockchain.

[0131] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0132] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A map updating method, comprising: Obtain the prohibited position of the no-U-turn sign, and query the corresponding node position and the single-lane two-way road at the node position; Determining the prohibited U-turn information of the single-lane two-way road according to the corresponding node position; the prohibited U-turn information includes at least one of the following: a prohibited U-turn direction and a prohibited U-turn node; According to the prohibited U-turn information, updating the corresponding single-lane two-way road information in the map; Wherein, determining the prohibited U-turn information of the single-lane two-way road according to the corresponding node position includes: Obtaining a predetermined direction of the single-lane two-way road; Determining a prohibited U-turn direction in each of the predetermined directions according to the node position; The prohibited U-turn direction is determined as prohibited U-turn information.

2. The method according to claim 1, wherein Determining a prohibited U-turn direction in each of the predetermined directions according to the node position includes: Obtaining a direction end node associated with each predetermined direction; According to the node position, determining the corresponding direction end node; The predetermined direction associated with the corresponding direction end node is determined as a prohibited U-turn direction; wherein the predetermined direction is a direction from the direction start node to the direction end node.

3. The method according to claim 1, wherein The obtaining of the prohibited position of the no-U-turn sign includes: Acquire road images and detect no-U-turn signs; A collection position of the road collection image is obtained and determined as a prohibited position of the no-U-turn sign.

4. A map navigation method, comprising: Determining a planned route corresponding to the single-lane two-way road according to the prohibited U-turn information of the single-lane two-way road included in the map; The map is determined by the map updating method according to any one of claims 1 to 3.

5. The method according to claim 4, wherein The determining, based on the prohibited U-turn information of the single-lane two-way road included in the map, a planned route corresponding to the single-lane two-way road comprises: When the planned route includes a single-lane two-way road with prohibited U-turn information, obtaining a target entry direction of the single-lane two-way road; According to the target entry direction and the prohibited U-turn information corresponding to the single-lane two-way road, the target exit direction of the single-lane two-way road and the next road corresponding to the target exit direction are determined to continue determining the planned route.

6. A map updating device comprising: A position information acquisition module is used to obtain the prohibited position of the no-U-turn sign and query the corresponding node position and the single-line two-way road at the node position; a prohibited U-turn determining module, configured to determine prohibited U-turn information for the single-lane two-way road according to the corresponding node position; the prohibited U-turn information including at least one of the following: a prohibited U-turn direction and a prohibited U-turn node; A map updating module, configured to update information of the corresponding single-lane two-way road in a map according to the prohibited U-turn information; The U-turn prohibition determination module includes: a road predetermined direction determining unit, configured to obtain the predetermined direction of the single-lane two-way road; a prohibited U-turn direction determining unit, configured to determine a prohibited U-turn direction in each of the predetermined directions according to the node position; The prohibited U-turn information determining unit is configured to determine the prohibited U-turn direction as prohibited U-turn information.

7. The device according to claim 6, wherein The prohibited U-turn direction determining unit includes: A direction end node acquisition subunit, configured to acquire a direction end node associated with each predetermined direction; A direction end node matching subunit, configured to determine a corresponding direction end node according to the node position; The predetermined direction matching subunit is used to determine the predetermined direction associated with the corresponding direction end node as a prohibited U-turn direction; wherein the predetermined direction is the direction from the direction start node to the direction end node.

8. The device according to claim 6, wherein The location information acquisition module includes: A prohibition sign recognition unit is used to obtain a road image and detect a prohibition U-turn sign; The prohibited position detection unit is used to obtain the collection position of the road collection image and determine it as the prohibited position information of the prohibited U-turn sign.

9. A map navigation device comprising: a route planning module, configured to determine a planned route corresponding to the single-lane two-way road according to the prohibited U-turn information of the single-lane two-way road included in the map; The map is determined by the map updating method according to any one of claims 1 to 3.

10. The device according to claim 9, wherein The route planning module includes: an entry direction detection unit, configured to obtain a target entry direction of the single-lane two-way road when the planned route includes the single-lane two-way road; The exit direction detection unit is used to determine the target exit direction of the single-lane two-way road and the next road corresponding to the target exit direction according to the target entry direction and the prohibited U-turn information corresponding to the single-lane two-way road, so as to continue to determine the planned route.

11. 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 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 execute the map updating method according to any one of claims 1 to 3, or execute the map navigation method according to any one of claims 4 to 5.

12. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to enable the computer to execute the map updating method according to any one of claims 1 to 3, or to execute the map navigation method according to any one of claims 4 to 5.

13. A computer program product, comprising a computer program, wherein when executed by a processor, the computer program implements the map updating method according to any one of claims 1 to 3, or executes the map navigation method according to any one of claims 4 to 5.

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