Map data processing method, device, electronic device and storage medium

Abstract

The present disclosure provides a method, device, electronic device and storage medium for processing map data, which relates to the field of artificial intelligence, and in particular to the field of intelligent transportation. The specific implementation scheme is: obtaining route information of multiple pass routes of a road section; based on the route information, determining the entry route and exit route of the road section in the multiple pass routes; determining the first offset distance of the lane centerline of the road section relative to the entry route, and the second offset distance of the lane centerline relative to the exit route; based on the first offset distance and the second offset distance, establishing association data between the standard map data from which the multiple pass routes come and the lane-level map data from which the lane centerline comes.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence technology, and in particular to a method, device, electronic device and storage medium for processing map data in the field of intelligent transportation. Background Art

[0002] Currently, the creation of association relationships is mainly completed manually by data producers. However, during the creation process, the manual interaction steps are cumbersome, and there are many inspection items that require manual guarantee, which can easily lead to misoperation and affect data quality. Summary of the invention

[0003] The present disclosure provides a method, apparatus, device and storage medium for processing map data.

[0004] According to one aspect of the present disclosure, a method for processing map data is provided. The method may include: obtaining route information of multiple pass routes of a road segment, wherein the route information is used to represent the attributes of each corresponding pass route; based on the route information, determining an entry pass route and an exit pass route of the road segment among the multiple pass routes, wherein the entry pass route is used to guide a vehicle to enter the road segment, and the exit pass route is used to guide a vehicle to exit the road segment; determining a first offset distance of a lane centerline of the road segment relative to the entry pass route, and a second offset distance of the lane centerline relative to the exit pass route; based on the first offset distance and the second offset distance, establishing association data between the standard map data from which the multiple pass routes come and the lane-level map data from which the lane centerline comes, wherein the association data is used to enable the vehicle to obtain and use the lane-level map data for navigation based on the standard map data.

[0005] According to another aspect of the present disclosure, a vehicle navigation method is provided. The method may include: acquiring association data; acquiring lane-level map data of the road segment based on the association data and standard map data of the road segment; and navigating the vehicle on the road segment based on the lane-level map data.

[0006] According to another aspect of the present disclosure, a map data processing device is also provided. The device may include: an acquisition unit, configured to acquire route information of multiple pass routes of a road segment, wherein the route information is used to represent the attributes of each corresponding pass route; a first determination unit, configured to determine an entry pass route and an exit pass route of the road segment from the multiple pass routes based on the route information, wherein the entry pass route is used to guide the vehicle to enter the road segment, and the exit pass route is used to guide the vehicle to exit the road segment; a second determination unit, configured to determine a first offset distance of a lane centerline of the road segment relative to the entry pass route, and a second offset distance of the lane centerline relative to the exit pass route; an establishment unit, configured to establish association data between the standard map data from which the multiple pass routes come and the lane-level map data from which the lane centerline comes based on the first offset distance and the second offset distance, wherein the association data is used to enable the vehicle to acquire and use the lane-level map data for navigation based on the standard map data.

[0007] According to another aspect of the present disclosure, a vehicle navigation device is also provided. The device may include: a first acquisition unit, used to acquire association data; a second acquisition unit, used to acquire lane-level map data of a road segment based on the association data and standard map data of the road segment; and a navigation unit, used to navigate the vehicle on the road segment based on the lane-level map data.

[0008] According to another aspect of the present disclosure, an electronic device is also provided. The electronic device may include: at least one processor; and a memory connected to the at least one processor in communication; 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 map data processing method of the embodiment of the present disclosure.

[0009] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is further provided, wherein the computer instructions are used to enable a computer to execute the method for processing map data of an embodiment of the present disclosure.

[0010] According to another aspect of the present disclosure, a computer program product is further provided, which may include a computer program. When the computer program is executed by a processor, the method for processing map data of the embodiment of the present disclosure is implemented.

[0011] 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

[0012] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0013] Figure 1 is a flowchart of a method for processing map data according to an embodiment of the present disclosure;

[0014] Figure 2 is a schematic diagram of an entry route and an exit route of a one-way road according to an embodiment of the present disclosure;

[0015] Figure 3 is a schematic diagram of an entry route and an exit route of a two-way road according to an embodiment of the present disclosure;

[0016] Figure 4 It is a schematic diagram of projections of two end points of a lane centerline of a lane-level map on a standard map road link outside three extension lines outside the road link according to an embodiment of the present disclosure;

[0017] Figure 5 is a flow chart of a vehicle navigation method according to an embodiment of the present disclosure;

[0018] Figure 6 It is a flowchart of a method for creating an association relationship according to the related technology of the present disclosure;

[0019] Figure 7 It is a schematic diagram of a rendering effect of an association relationship in the related technology of the present disclosure;

[0020] Figure 8 is a flow chart of a method for semi-automatically creating an association relationship according to an embodiment of the present disclosure;

[0021] Fig. 9 is a flow chart of a logical method for automatically determining a link according to an embodiment of the present disclosure;

[0022] Fig.10 is a schematic diagram of a rendering effect of an association relationship according to an embodiment of the present disclosure;

[0023] Fig.11 is a flow chart of a method for automatically deriving logic of an offset point according to an embodiment of the present disclosure;

[0024] Fig.12 is a schematic diagram of a map data processing device according to an embodiment of the present disclosure;

[0025] Fig.13 is a schematic diagram of a navigation device for a vehicle according to an embodiment of the present disclosure;

[0026] Fig.14 is a schematic diagram of an electronic device used to implement an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] 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.

[0028] The following is an introduction to the method for processing map data in the embodiment of the present disclosure from the server side.

[0029] Figure 1 FIG. 1 is a flowchart of a method for processing map data according to an embodiment of the present disclosure. Figure 1 As shown, the method may include the following steps:

[0030] Step S102: obtaining route information of a plurality of passable routes of the road section, wherein the route information is used to represent the attributes of each corresponding passable route.

[0031] In the technical solution provided in the above step S102 of the present disclosure, route information of multiple pass routes of a standard map road section is manually obtained, wherein the route information may include connection information of the endpoints of each pass route, which is used to represent the corresponding attributes of each pass route, and the attribute of each pass route may be the travel direction of the pass route, including the travel direction of a one-way road and the travel direction of a two-way road.

[0032] Optionally, a collection of multiple pass routes can be called a road network, each pass road can be called a road link, and the road network contains multiple road links.

[0033] Step S104, based on the route information, determining an entry route and an exit route of the road section from among the multiple routes, wherein the entry route is used to guide the vehicle to enter the road section, and the exit route is used to guide the vehicle to exit the road section.

[0034] In the technical solution provided in the above step S104 of the present disclosure, the tool automatically determines the entry route and exit route of the road section from multiple routes based on the route information, wherein the entry route can be an entry line (in_link) for guiding the vehicle to enter the road section, and the exit route can be an exit line (out_link) for guiding the vehicle to exit the road section.

[0035] Optionally, the entry line and exit line of a one-way road can be judged based on the connection point and direction. Based on the connection point and direction, a unique direction of travel can be determined. The road entering the one-way road is the entry line, and the road leaving the one-way road is the exit line. The entry line and exit line of a two-way road can be judged by the angle between the road and the lane line. When the angle is less than 90 degrees, it is an entry line, and when the angle is greater than or equal to 90 degrees, it is an exit line, where the lane line is a one-way line.

[0036] Step S106, determining a first offset distance of the lane centerline of the road section relative to the entry route, and a second offset distance of the lane centerline relative to the exit route.

[0037] In the technical solution provided in the above step S106 of the present disclosure, the tool automatically derives a first offset distance of the lane centerline of the road section relative to the entry route based on the projection point coordinates of the starting point of the lane-level centerline of the lane-level map on the entry road of the standard map, wherein the first offset distance may be the distance from the starting point of the standard map road to the projection point; the tool automatically derives a second offset distance of the lane centerline of the road section relative to the exit route based on the projection point coordinates of the end point of the lane-level centerline of the lane-level map on the exit road of the standard map, wherein the second offset distance may be the distance from the end point of the standard map road to the projection point.

[0038] Step S108, based on the first offset distance and the second offset distance, establishing association data between the standard map data from which the multiple routes come and the lane-level map data from which the lane centerline comes, wherein the association data is used to enable the vehicle to obtain and use the lane-level map data for navigation based on the standard map data.

[0039] In the technical solution provided in the above step S108 of the present disclosure, through semi-automatic processing logic, based on the first offset distance and the second offset distance, an association relationship between multiple routes of standard map (Standard Definition Map, abbreviated as SD) data and lane center lines of lane-level map (Lane Definition Map, abbreviated as LD) data is established, and associated data is generated. Based on the associated data, the purpose of seeing and using lane-level data for navigation in a navigation application or a vehicle terminal is achieved.

[0040] In the related art, the creation of the association relationship between the lane centerline of the lane-level map and the road of the standard map is completed by manual operation of the data production personnel. However, the embodiment of the present disclosure introduces the concept of semi-automatic operation to achieve semi-automatic derivation of the association relationship, thereby improving the operational efficiency of the association relationship, while greatly improving the operational capacity, ensuring the results and quality of the operational data, and solving the technical problem of low efficiency in map data processing.

[0041] Through the above steps S102 to S108, route information of multiple pass routes of the road section is obtained, wherein the route information is used to represent the attributes of each corresponding pass route; based on the route information, an entry route and an exit route of the road section are determined among the multiple pass routes, wherein the entry route is used to guide the vehicle to enter the road section, and the exit route is used to guide the vehicle to exit the road section; a first offset distance of the lane centerline of the road section relative to the entry route, and a second offset distance of the lane centerline relative to the exit route are determined; based on the first offset distance and the second offset distance, association data between standard map data from which the multiple pass routes come and lane-level map data from which the lane centerline comes are established, wherein the association data is used to enable the vehicle to obtain and use the lane-level map data for navigation based on the standard map data. That is to say, the present invention can automatically calculate the entry route and exit route, as well as the offset distance of the entry route and exit route relative to the lane center line of the road section based on the selected road route information, and determine the association relationship data between the lane-level map and the standard map based on the obtained offset distance, thereby solving the technical problem of low efficiency in map data processing.

[0042] The above method of this embodiment is further described in detail below.

[0043] As an optional implementation, the method also includes: step S104, the route information includes connection information of the endpoints of each pass route, and based on the route information, determining the entry route and exit route of the road section among multiple pass routes includes: based on the connection information, determining multiple target pass routes among the multiple pass routes, wherein one endpoint of the target pass route is not connected to the road section; determining the entry route and exit route among the multiple target pass routes.

[0044] In this embodiment, based on the connection information of the endpoints of each passable route, multiple target passable routes are determined among the multiple passable routes, and based on the semi-automatic processing logic, the entry route and the exit route are automatically determined among the multiple target passable routes, thereby achieving the technical effect of reducing manual interaction steps and improving the processing efficiency of map data, wherein the target passable route can be an end line, that is, a route with any endpoint not connected to a road section, the entry route can be an entry line, and the exit route can be an exit line.

[0045] As an optional implementation, the method also includes: step S104, the route information includes the travel direction information of each travel route, the road section includes a one-way road section, and determining the entry route and the exit route among multiple target travel routes includes: in response to the travel direction information of the target travel route indicating the direction in which the vehicle enters the one-way road section, the target travel route is determined as the entry route; in response to the travel direction information of the target travel route indicating the direction in which the vehicle exits the one-way road section, the target travel route is determined as the exit route.

[0046] In this embodiment, in a one-way road section, the entry route and the exit route among multiple passage routes can be determined through the connection information and direction information of the endpoints of the passage route. When the passage direction information of the target passage route indicates the direction in which the vehicle enters the one-way road section, the target passage route is determined as the entry route; when the passage direction information of the target passage route indicates the direction in which the vehicle exits the one-way road section, the target passage route is determined as the exit route, thereby achieving the technical effect of accurately judging the entry route and the exit route among multiple passage routes in a one-way road section, wherein the passage direction of the one-way road section is unique.

[0047] For example, Figure 2 is a schematic diagram of an entry route and an exit route of a one-way road according to an embodiment of the present disclosure, such as Figure 2 As shown, Line 1, Line 2 and Line 3 are three access roads, s represents the starting point of each access road, e represents the end point of each access road, and there is only one rightward arrow on each line, which means that the travel direction of the three access roads is from left to right. It can be determined that Line 1 is the entry route and Line 3 is the exit route.

[0048] As an optional implementation, the method also includes: step S104, the route information includes the relative angle between each pass route and the center line of the lane, the road section includes a two-way road section, and determining the entry route and the exit route among multiple target pass routes includes: in response to the relative angle between the target pass route and the center line of the lane being less than a target threshold, determining the target pass route as the entry route of the two-way road section; in response to the relative angle between the target pass route and the center line of the lane being greater than or equal to the target threshold, determining the target pass route as the exit route of the two-way road section.

[0049] In this embodiment, in a two-way road section, the entry route and the exit route among multiple passage routes can be determined by the relative angle between the target passage route and the center line of the lane. When the relative angle between the target passage route and the center line of the lane is less than the target threshold, the target passage route is the entry route of the two-way road section; when the relative angle between the target passage route and the center line of the lane is greater than or equal to the target threshold, the target passage route is determined to be the exit route of the two-way road section, thereby achieving the technical effect of accurately judging the entry route and the exit route among multiple passage routes in the two-way road section. Among them, the passage direction of the two-way road section can include two relative directions, and the target threshold can be set to 90 degrees.

[0050] For example, Figure 3 is a schematic diagram of an entry route and an exit route of a two-way road according to an embodiment of the present disclosure, such as Figure 3 As shown, line 1, line 2 and line 3 are three roads to pass through, s represents the starting point of each road to pass through, e represents the end point of each road to pass through, and each line has a rightward arrow and a leftward arrow, which means that the three roads are two-way roads, and the direction of travel can be from left to right or from right to left. The thick line below the route to pass is the center line of the lane, which is a one-way line with a unique direction of travel (from s to e). It can be seen that if the angle between the vector of the center line of the lane and the vector of line 1 is less than 90 degrees, then line 1 can be determined to be the entry route, and if the angle between the vector of the center line of the lane and the vector of line 3 is greater than 90 degrees, then line 3 can be determined to be the exit route.

[0051] As an optional implementation, the method also includes: step S106, determining a first offset distance of a lane centerline of a road section relative to an entry route, and a second offset distance of a lane centerline relative to an exit route, including: determining the first offset distance based on a first starting point of the lane centerline and a second starting point of the entry route; determining the second offset distance based on a first end point of the lane centerline and a second end point of the exit route.

[0052] In this embodiment, based on the first starting point of the lane centerline and the second starting point for entering the traffic route, the tool automatically calculates the first offset distance, wherein the first starting point may be the starting point of the lane centerline of the lane-level map, and the second starting point may be the projection point of the starting point of the lane-level centerline of the lane-level map on the entry road of the standard map; based on the first end point of the lane centerline and the second end point for exiting the traffic route, the tool automatically calculates the second offset distance, thereby achieving the technical effect of reducing manual labor time and cost and improving the efficiency of map data processing, wherein the first end point may be the end point of the lane centerline of the lane-level map, and the second end point may be the projection point of the end point of the lane centerline of the lane-level map on the entry road of the standard map.

[0053] Optionally, by determining whether the projections of the two endpoints of the lane centerline of the lane-level map on the standard map road chain are on the road chain, a first offset distance of the lane centerline of the road section relative to the entry route and a second offset distance of the lane centerline of the road section relative to the exit route can be determined. If the projections of the two endpoints of the lane centerline of the lane-level map on the standard map road chain are on the road chain, the first offset distance and the second offset distance are calculated based on the projection coordinates of the two endpoints of the lane centerline of the lane-level map on the standard map road chain. If the projections of the two endpoints of the lane centerline of the lane-level map on the standard map road chain are not on the road chain, it is further determined whether the projections of the two endpoints of the lane centerline of the lane-level map on the standard map road chain are within three extension lines outside the road chain.

[0054] Furthermore, if the projections of the two endpoints of the lane centerline of the lane-level map on the standard map road link are within the three extension lines outside the road link, the first offset distance and the second offset distance are calculated based on the projection coordinates (offset) of the two endpoints of the lane centerline of the lane-level map on the standard map road link; if the projections of the two endpoints of the lane centerline of the lane-level map on the standard map road link are outside the three extension lines outside the road link, the starting point of entering the road is first taken as the projection coordinates (in_offset) of the starting point of the lane centerline of the lane-level map on the standard map road link, and the end point of entering the road is taken as the projection coordinates (out_offset) of the end point of the lane centerline of the lane-level map on the standard map road link, and then the first offset distance and the second offset distance are calculated.

[0055] For example, Figure 4 is a schematic diagram of projections of two end points of a lane centerline of a lane-level map on a standard map road link outside three extension lines outside the road link according to an embodiment of the present disclosure, such as Figure 4As shown, line 1, line 2 and line 3 are three extension lines outside the road chain, the thick line above is the lane centerline, s represents the starting point of the lane centerline, and e represents the end point of the lane centerline. It can be seen from the figure that the two endpoints of the lane center (s and e) fall outside the three extension lines. The starting point of entering the road (s starting point) is used as the projection coordinate (in_offset) of the starting point of the lane centerline on the standard map road chain, that is, the starting offset point (s_offset), and the ending point of entering the road (e ending point) is used as the projection coordinate of the end point of the lane centerline on the standard map road chain, that is, the ending offset point (e_offset).

[0056] As an optional implementation, the method also includes: step S106, determining the first offset distance based on the first starting point of the lane centerline and the second starting point of entering the traffic route includes: projecting the first starting point onto the entry route to obtain a first projection point; and determining the distance between the first projection point and the second starting point as the first offset distance.

[0057] In this embodiment, the first starting point is projected to the entry route to obtain a first projection point, and the distance between the first projection point and the second starting point is automatically calculated by a tool and used as the first offset distance, thereby achieving the technical effect of reducing manual labor time and costs in the process of map data processing, wherein the first projection point can be the projection coordinate point of the starting point of the road centerline on the standard map route, and the first offset distance can be the distance from the starting point of the road centerline to the first projection point.

[0058] As an optional implementation, the method also includes: step S106, determining the second offset distance based on the first end point of the lane centerline and the second end point of the exit route includes: projecting the first end point onto the exit route to obtain a second projection point; and determining the distance between the second projection point and the second end point as the second offset distance.

[0059] In this embodiment, the first end point is projected onto the exit route to obtain a second projection point, and the distance between the second projection point and the second end point is automatically calculated by a tool and used as the second offset distance, thereby achieving the technical effect of reducing manual labor time and cost in the map data processing process, wherein the second projection point can be the projection coordinate point of the end point of the road centerline on the standard map route, and the second offset distance can be the distance from the end point of the road centerline to the second projection point.

[0060] The following describes a method for processing map data in an embodiment of the present disclosure from the client side.

[0061] Figure 5 FIG. 1 is a flowchart of another method for processing map data according to an embodiment of the present disclosure. Figure 5 As shown, the method may include the following steps:

[0062] Step S502, obtaining associated data.

[0063] In the technical solution provided in the above step S502 of the present disclosure, the client obtains association data between multiple passing routes of the standard map data and lane center lines of the lane-level map data.

[0064] Step S504: acquiring lane-level map data of the road section based on the association data and the standard map data of the road section.

[0065] In the technical solution provided in the above step S504 of the present disclosure, lane-level map data of the road section is obtained based on the associated data and the standard map data of the road section, wherein the standard map data may be conventional map data with a location display function, and the lane-level map data may be map data with road planning and navigation functions.

[0066] Step S506: Navigate the vehicle on the road segment based on the lane-level map data.

[0067] In the technical solution provided in the above step S506 of the present disclosure, the vehicle on the road section is navigated based on the acquired lane-level map data.

[0068] Through the above steps S502 to S506, the associated data is obtained; based on the associated data and the standard map data of the road section, the lane-level map data of the road section is obtained; based on the lane-level map data, the vehicle on the road section is navigated, thereby solving the technical problem of low efficiency in map data processing.

[0069] The above technical solution of the embodiment of the present disclosure is further introduced below with examples in combination with preferred embodiments.

[0070] At present, with the popularization of global positioning equipment, the enhancement of local positioning capabilities, and the demand for high-precision data from car manufacturers and the navigation market, lane-level maps have emerged. However, the data of lane-level maps has a strong dependency on standard map data during use. It is necessary to establish an association between the lane centerline of the lane-level map and the road of the standard map in order to see and use the lane-level data for navigation in the navigation application or on-board terminal.

[0071] In the related art, the creation of the association relationship between the lane centerline of the lane-level map and the road of the standard map can be completed by manual operation of the data producer. For example, the map data producer can use tools to create and edit the association relationship, select the road link (including one or more roads) of the standard map, and then select the lane centerline (lane) of the lane-level map. After the selection is completed, the lane projection point is manually set to obtain the offset distance, and the creation of the association relationship between the lane centerline of the lane-level map and the road of the standard map is completed. Figure 6 is a flow chart of a method for creating an association relationship in the related technology of the present disclosure, such as Figure 6 As shown, the method may include the following steps:

[0072] S601, select the center line of the lane-level map.

[0073] Manually select the lane centerline (lane) of the lane definition map (LD) data.

[0074] S602, selecting an entry road on the standard map.

[0075] Manually select the incoming road (in_link) for lane-level map data.

[0076] S603, selecting a passing road on the standard map.

[0077] Since the associated standard definition map (SD) road may be a road link, that is, multiple roads (link), the pass road (pass_link) of the standard map is selected.

[0078] S604, selecting an exit road on the standard map.

[0079] Manually select the exit road (out_link) from the lane-level map data.

[0080] S605, selecting a projection point of the center line of the lane-level map onto the road entering the standard map.

[0081] Manually set the starting point of the lane centerline of the lane-level map to the projected point coordinates on the standard map entry road, and the tool automatically calculates the offset distance based on the coordinates.

[0082] S606, selecting a projection point of the lane and the center line of the map on the exit road of the standard map.

[0083] Manually set the projection point coordinates of the end point of the lane centerline of the lane-level map on the exit road of the standard map, and the tool automatically calculates the offset distance based on the coordinates.

[0084] After manually operating the above 6 steps, the association relationship is completed. Figure 7 is a schematic diagram of a rendering effect of an association relationship in the related technology of the present disclosure, and the rendering effect is as follows Figure 7 As shown, the three thick black lines on the top of the figure are lane-level center lines, and the three different roads below are marked as entry roads, passing roads, and exit roads. The black cross on the left represents the projection point of the entry road, and the black cross on the right represents the projection point of the exit road.

[0085] When using this method to create associations, the manual interaction steps are cumbersome and it is easy to introduce misoperations that affect data quality. In addition, there are many inspection items that require manual guarantee, which wastes working time and has extremely low manual work efficiency, thus leading to technical problems such as low efficiency in map data processing.

[0086] In view of the above problems of purely manual production, complex interaction and low production efficiency, this embodiment introduces the concept of semi-automatic operation and proposes a fast generation method based on lane-level map association relationship data. The method of this embodiment is further introduced below.

[0087] Figure 8 is a flow chart of a method for semi-automatically creating an association relationship according to an embodiment of the present disclosure, such as Figure 8 As shown, the method may include the following steps:

[0088] S801, select the center line of the lane-level map.

[0089] Manually select lane-level map data, wherein the lane-level map data may be a lane-level centerline, and the lane-level map data file may be sent by a server, and then the data in the file may be loaded through a tool.

[0090] S802, selecting a road network of standard map roads.

[0091] A road network of standard map roads is manually selected, wherein the road network may be a collection of multiple passable routes.

[0092] S803, the program derives the offset points of entering the road and exiting the road.

[0093] Based on the selected road network, the tool determines the connection and traffic relationship of each road in the road network, automatically calculates the entry roads, passing roads and exit roads of all road links in the road network, and automatically derives the offset points of the entry roads and exit roads. Among them, the road link can be a traffic route from the starting point to the end point.

[0094] S804: Manual inspection to confirm the final route.

[0095] The offset points of the entry and exit roads automatically derived by the tool are manually checked to confirm the final travel route.

[0096] The next step is to analyze the automatic judgment logic of the road chain. Fig. 9 is a flow chart of a logical method for automatically determining a link according to an embodiment of the present disclosure, such as Fig. 9 As shown, the method may include the following steps:

[0097] S901, obtaining the end line of the road network.

[0098] Get the end line of the road network, where the road network includes multiple roads and the end line can be a route without a connected road at any end.

[0099] S902, dividing the end line into an entry line and an exit line.

[0100] The entry and exit lines of a one-way road can be determined based on the connection point and direction of the road, and the only direction of travel can be determined based on the connection point and direction; a two-way road can be determined by the angle between the road vector and the vector of the lane centerline. When the angle is less than 90 degrees, the road is determined to be an entry line, and when the angle is greater than or equal to 90 degrees, the road is determined to be an exit line.

[0101] For example, Figure 2 is a schematic diagram of an entry route and an exit route of a one-way road according to an embodiment of the present disclosure, such as Figure 2 As shown, Line 1, Line 2 and Line 3 are three accessible roads, s represents the starting point of each accessible road, e represents the end point of each accessible road, and there is only one rightward arrow on each line, which means that the travel direction of the three accessible roads is from left to right. Therefore, Line 1 can be determined as the entry line and Line 3 as the exit line.

[0102] For example, Figure 3 is a schematic diagram of an entry route and an exit route of a two-way road according to an embodiment of the present disclosure, such as Figure 3 As shown, line 1, line 2 and line 3 are three roads to pass through, s represents the starting point of each road to pass through, e represents the end point of each road to pass through, and each line has a rightward arrow and a leftward arrow, which means that the three roads are two-way roads, and the direction of travel can be from left to right or from right to left. The thick line below the route is the center line of the lane, which is a one-way line with a unique direction of travel (from s to e). It can be seen that if the angle between the vector of the center line of the lane and the vector of line 1 is less than 90 degrees, line 1 can be determined as an entry line, and if the angle between the vector of the center line of the lane and the vector of line 3 is greater than 90 degrees, line 3 can be determined as an exit line.

[0103] S903, combining the obtained entry lines and exit lines in pairs, and calculating all paths through a breadth-first search (Breadth-First Search, referred to as BFS).

[0104] Fig.10 is a schematic diagram of a rendering effect of an association relationship according to an embodiment of the present disclosure, such as Fig.10 As shown, there are six standard map roads selected manually, and the program automatically derives them, among which a, b, and c are derived as entry lines, d is the passing line, and e and f are the exit lines. Therefore, there are a total of six road chain combinations: ade, adf, bde, bdf, cde, and cdf.

[0105] Next, analyze the automatic derivation logic of the offset point. Fig.11 is a flow chart of a method for automatically deriving a logic of an offset point according to an embodiment of the present disclosure. Fig.11 As shown, the method may include the following steps:

[0106] S1101, calculating the projections of two end points of the lane centerline of the lane-level map on the standard map road link.

[0107] S1102, determining whether the projections of two end points of the lane centerline of the lane-level map on the road link of the standard map are on the road link.

[0108] If the projections of the two endpoints of the lane centerline of the lane-level map on the standard map road link are on the road link, proceed to step S1103 to obtain the projection coordinates and offset distances of the two endpoints of the lane centerline of the lane-level map on the standard map road link.

[0109] If the projections of the two endpoints of the lane centerline of the lane-level map on the standard map road link are not on the road link, proceed to step S1104 to further determine whether the projections of the two endpoints of the lane centerline of the lane-level map on the standard map road link are within the three extension lines outside the road link.

[0110] Furthermore, if the projections of the two endpoints of the lane centerline of the lane-level map on the standard map road link are within the three extension lines outside the road link, then enter step S1103 to obtain the projection coordinates (offset) and offset distance of the two endpoints of the lane centerline of the lane-level map on the standard map road link; if the projections of the two endpoints of the lane centerline of the lane-level map on the standard map road link are not within the three extension lines outside the road link, then enter step S1104 and use the starting point of the entry road as the projection coordinates of the starting point of the lane centerline of the lane-level map on the standard map road link (in_offset), and use the end point of the entry road as the projection coordinates of the end point of the lane centerline of the lane-level map on the standard map road link (out_offset).

[0111] The present disclosure greatly reduces the steps for manually making the lane-level map-standard map association relationship from the original six steps to a minimum of two steps through semi-automatic derivation of the association relationship, thereby reducing manual operation time, improving the operation efficiency of the association relationship, and greatly improving the operation capacity, ensuring the results and quality of the operation data, and solving the technical problem of low efficiency in map data processing.

[0112] The present disclosure also provides a method for executing Figure 1 The map data processing device of the illustrated embodiment.

[0113] Fig.12 FIG. 1 is a schematic diagram of a map data processing device according to an embodiment of the present disclosure. Fig.12 As shown, the map data processing device 1200 may include: an acquisition unit 1201 , a first determination unit 1202 , a second determination unit 1203 and an establishment unit 1204 .

[0114] The acquisition unit 1201 is used to acquire route information of multiple pass routes of a road section, wherein the route information is used to represent the attributes of each corresponding pass route.

[0115] The first determining unit 1202 is used to determine an entry route and an exit route of a road section from among multiple passage routes based on the route information, wherein the entry route is used to guide vehicles to enter the road section, and the exit route is used to guide vehicles to exit the road section.

[0116] The second determining unit 1203 is used to determine a first offset distance of the lane centerline of the road section relative to the entry route, and a second offset distance of the lane centerline relative to the exit route.

[0117] The establishing unit 1204 is used to establish association data between the standard map data from which the multiple routes come and the lane-level map data from which the lane center lines come based on the first offset distance and the second offset distance, wherein the association data is used to enable the vehicle to obtain and use the lane-level map data for navigation based on the standard map data.

[0118] Optionally, the first determination unit includes: a first determination module, used to determine multiple target routes among multiple routes based on connection information, wherein one end point of the target route is not connected to the road section; and a second determination module, used to determine an entry route and an exit route among the multiple target routes.

[0119] Optionally, the second determination module includes: a first sub-determination module, used to determine the target passable route as an entry route in response to the passable direction information of the target passable route indicating the direction in which the vehicle enters the one-way road section; and a second sub-determination module, used to determine the target passable route as an exit route in response to the passable direction information of the target passable route indicating the direction in which the vehicle exits the one-way road section.

[0120] Optionally, the second determination module includes: a third sub-determination module, used to determine that the target pass route is an entry pass route of the two-way road section in response to the relative angle between the target pass route and the lane centerline being less than a target threshold; and a fourth sub-determination module, used to determine that the target pass route is an exit pass route of the two-way road section in response to the relative angle between the target pass route and the lane centerline being greater than or equal to the target threshold.

[0121] In the data processing device of this embodiment, an acquisition unit acquires route information of multiple pass routes of a road section, a first determination unit determines an entry route and an exit route of the road section among the multiple pass routes based on the route information, a second determination unit determines a first offset distance of a lane centerline of the road section relative to the entry route, and a second offset distance of the lane centerline relative to the exit route, and an establishment unit establishes association data between standard map data from which the multiple pass routes come and lane-level map data from which the lane centerline comes based on the first offset distance and the second offset distance, thereby solving the technical problem of low efficiency in map data processing.

[0122] The present disclosure also provides a method for executing Figure 5 A navigation device for a vehicle according to the illustrated embodiment.

[0123] Fig.13 FIG. 1 is a schematic diagram of a map data processing device according to an embodiment of the present disclosure. Fig.13As shown, the map data processing device 1300 may include: a first acquisition unit 1301 , a second acquisition unit 1302 and a navigation unit 1303 .

[0124] Optionally, the first acquiring unit 1301 is used to acquire associated data.

[0125] Optionally, the second acquisition unit 1302 is used to acquire lane-level map data of the road section based on the association data and standard map data of the road section.

[0126] Optionally, the navigation unit 1303 is used to navigate the vehicle on the road section based on the lane-level map data.

[0127] In the data processing device of this embodiment, the associated data is acquired by the first acquisition unit, and the second acquisition unit acquires the lane-level map data of the road section based on the associated data and the standard map data of the road section. The navigation unit navigates the vehicle on the road section based on the lane-level map data, thereby solving the technical problem of low efficiency in map data processing.

[0128] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0129] 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.

[0130] An embodiment of the present disclosure provides an electronic device, which may include: 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 map data processing method of the embodiment of the present disclosure.

[0131] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0132] According to an embodiment of the present disclosure, the present disclosure further provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the map data processing method of the embodiment of the present disclosure.

[0133] Optionally, in this embodiment, the non-volatile storage medium may be configured to store a computer program for performing the following steps:

[0134] S1, obtaining route information of a plurality of passable routes of a road section, wherein the route information is used to represent the attributes of each corresponding passable route;

[0135] S2, based on the route information, determining an entry route and an exit route of the road section from among the plurality of passage routes, wherein the entry route is used to guide the vehicle to enter the road section, and the exit route is used to guide the vehicle to exit the road section;

[0136] S3, determining a first offset distance of a lane centerline of the road section relative to an entry route, and a second offset distance of the lane centerline relative to an exit route;

[0137] S4, based on the first offset distance and the second offset distance, establishing association data between the standard map data from which the multiple travel routes come and the lane-level map data from which the lane centerline comes, wherein the association data is used to enable the vehicle to obtain and use the lane-level map data for navigation based on the standard map data.

[0138] Optionally, in this embodiment, the non-volatile storage medium may also be configured to store a computer program for performing the following steps:

[0139] S1, obtain related data;

[0140] S2, obtaining lane-level map data of the road section based on the association data and standard map data of the road section;

[0141] S3, navigating the vehicle on the road section based on the lane-level map data.

[0142] Optionally, in this embodiment, the non-transitory computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above. More specific examples of readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0143] According to an embodiment of the present disclosure, the present disclosure further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0144] S1, obtaining route information of a plurality of passable routes of a road section, wherein the route information is used to represent the attributes of each corresponding passable route;

[0145] S2, based on the route information, determining an entry route and an exit route of the road section from among the plurality of passage routes, wherein the entry route is used to guide the vehicle to enter the road section, and the exit route is used to guide the vehicle to exit the road section;

[0146] S3, determining a first offset distance of a lane centerline of the road section relative to an entry route, and a second offset distance of the lane centerline relative to an exit route;

[0147] S4, based on the first offset distance and the second offset distance, establishing association data between the standard map data from which the multiple travel routes come and the lane-level map data from which the lane centerline comes, wherein the association data is used to enable the vehicle to obtain and use the lane-level map data for navigation based on the standard map data.

[0148] When the computer program is executed by the processor, the following steps are also implemented:

[0149] S1, obtain related data;

[0150] S2, obtaining lane-level map data of the road section based on the association data and standard map data of the road section;

[0151] S3, navigating the vehicle on the road section based on the lane-level map data.

[0152] Fig.14 A schematic block diagram of an example electronic device 1400 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.

[0153] like Fig.14 As shown, the device 1400 includes a computing unit 1401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1402 or a computer program loaded from a storage unit 1408 into a random access memory (RAM) 1403. In the RAM 1403, various programs and data required for the operation of the device 1400 can also be stored. The computing unit 1401, the ROM 1402, and the RAM 1403 are connected to each other via a bus 1404. An input / output (I / O) interface 1405 is also connected to the bus 1404.

[0154] A number of components in the device 1400 are connected to the I / O interface 1405, including: an input unit 1406, such as a keyboard, a mouse, etc.; an output unit 1407, such as various types of displays, speakers, etc.; a storage unit 1408, such as a disk, an optical disk, etc.; and a communication unit 1409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1409 allows the device 1400 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0155] The computing unit 1401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1401 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 1401 performs the various methods and processes described above, such as a processing method for map data. For example, in some embodiments, the processing method for map data may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 1408. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 1400 via the ROM 1402 and / or the communication unit 1409. When the computer program is loaded into the RAM 1403 and executed by the computing unit 1401, one or more steps of the processing method for map data described above may be performed. Alternatively, in other embodiments, the computing unit 1401 may be configured to execute the map data processing method in any other appropriate manner (for example, by means of firmware).

[0156] 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), complex 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.

[0157] 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.

[0158] 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.

[0159] 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 sound input, voice input, or tactile input).

[0160] 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.

[0161] 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.

[0162] 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 the embodiments of the present disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and this document does not limit this.

[0163] 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 processing map data, comprising: Acquire route information of a plurality of passable routes of a road segment, wherein the route information is used to represent the attributes of each corresponding passable route; Based on the route information, determining an entry route and an exit route of the road segment from among the plurality of routes, wherein the entry route is used to guide a vehicle to enter the road segment, and the exit route is used to guide the vehicle to exit the road segment; Determining a first offset distance of a lane centerline of the road segment relative to the entry route, and a second offset distance of the lane centerline relative to the exit route; Based on the first offset distance and the second offset distance, association data is established between the standard map data from which the multiple pass routes come and the lane-level map data from which the lane center line comes, wherein the association data is used to enable the vehicle to obtain and use the lane-level map data for navigation based on the standard map data.

2. The method according to claim 1, wherein: The route information includes connection information of endpoints of each of the passable routes, and based on the route information, determining an entry passable route and an exit passable route of the road segment among the plurality of passable routes includes: Based on the connection information, determining a plurality of target passable routes from the plurality of passable routes, wherein an end point of the target passable route is not connected to the road segment; The entry transit route and the exit transit route are determined among the plurality of target transit routes.

3. The method according to claim 2, wherein: The route information includes the travel direction information of each of the travel routes, the road segment includes a one-way road segment, and determining the entry route and the exit route from the plurality of target travel routes includes: In response to the travel direction information of the target travel route indicating the direction in which the vehicle enters the one-way road section, determining the target travel route as the entry travel route; In response to the travel direction information of the target travel route indicating a direction for the vehicle to exit the one-way road segment, the target travel route is determined as the exit travel route.

4. The method according to claim 2, wherein: The route information includes a relative angle between each of the passing routes and the lane centerline, the road segment includes a bidirectional road segment, and determining the entry passing route and the exit passing route from the plurality of target passing routes includes: In response to a relative angle between the target passage route and the lane centerline being less than a target threshold, determining that the target passage route is the entry passage route of the two-way road segment; In response to a relative angle between the target passage route and the lane centerline being greater than or equal to the target threshold, the target passage route is determined to be the exit passage route of the two-way road segment.

5. The method according to claim 1, determining a first offset distance of a lane centerline of the road segment relative to the entry route and a second offset distance of the lane centerline relative to the exit route comprises: Determine the first offset distance based on a first starting point of the lane centerline and a second starting point of entering the traffic route; The second offset distance is determined based on a first end point of the lane centerline and a second end point of the exit passageway.

6. The method according to claim 5, determining the first offset distance based on the first starting point of the lane centerline and the second starting point of the entry route comprises: Projecting the first starting point onto the entry route to obtain a first projection point; The distance between the first projection point and the second starting point is determined as the first offset distance.

7. The method according to claim 5, determining the second offset distance based on the first end point of the lane centerline and the second end point of the exit route comprises: Projecting the first end point onto the exit route to obtain a second projection point; The distance between the second projection point and the second end point is determined as the second offset distance.

8. A vehicle navigation method, comprising: Acquire associated data, wherein the associated data is obtained by the map data processing method according to any one of claims 1 to 7; Based on the association data and standard map data of the road section, obtaining lane-level map data of the road section; A vehicle is navigated on the road segment based on the lane-level map data.

9. A map data processing device, comprising: An acquisition unit, used to acquire route information of a plurality of passable routes of a road segment, wherein the route information is used to represent the attributes of each corresponding passable route; a first determining unit, configured to determine, based on the route information, an entry route and an exit route of the road section from among the plurality of passage routes, wherein the entry route is used to guide a vehicle to enter the road section, and the exit route is used to guide the vehicle to exit the road section; A second determination unit is used to determine a first offset distance of a lane centerline of the road section relative to the entry route, and a second offset distance of the lane centerline relative to the exit route; An establishing unit is used to establish association data between the standard map data from which the multiple pass routes come and the lane-level map data from which the lane center line comes based on the first offset distance and the second offset distance, wherein the association data is used to enable the vehicle to obtain and use the lane-level map data for navigation based on the standard map data.

10. The device according to claim 9, wherein: The route information includes connection information of endpoints of each of the pass routes, and the first determining unit includes: A first determining module, configured to determine a plurality of target passable routes from the plurality of passable routes based on the connection information, wherein an end point of the target passable route is not connected to the road segment; The second determination module is used to determine the entry route and the exit route among the multiple target routes.

11. The device according to claim 10, wherein: The route information includes the travel direction information of each of the travel routes, the road section includes a one-way road section, and the second determination module includes: A first sub-determination module is configured to determine the target passable route as the entry passable route in response to the passing direction information of the target passable route indicating the direction in which the vehicle enters the one-way road section; The second sub-determination module is configured to determine the target passage route as the exit passage route in response to the passage direction information of the target passage route indicating a direction for the vehicle to exit the one-way road segment.

12. The device according to claim 10, wherein: The route information includes a relative angle between each of the passing routes and the lane centerline, the road section includes a bidirectional road section, and the second determination module includes: a third sub-determination module, configured to determine, in response to a relative angle between the target pass route and the lane centerline being less than a target threshold, that the target pass route is the entry pass route of the two-way road section; The fourth sub-determination module is used to determine that the target passage route is the exit passage route of the two-way road section in response to the relative angle between the target passage route and the lane centerline being greater than or equal to the target threshold.

13. A navigation device for a vehicle, comprising: A first acquisition unit, configured to acquire associated data, wherein the associated data is obtained by the map data processing method according to any one of claims 1 to 7; A second acquisition unit, configured to acquire lane-level map data of the road section based on the association data and standard map data of the road section; A navigation unit is used to navigate a vehicle on the road section based on the lane-level map data.

14. 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 perform the method according to any one of claims 1 to 8.

15. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-8.

16. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 8.

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