Method for Modeling Target Road Elements and Method for Providing Location-Based Services

Abstract

Embodiments of the present disclosure disclose a method for modeling a target road element and a method for providing a location-based service. The method for modeling the target road element includes: obtaining relevant data of the target road element; selecting a target associated element capable of binding the target road element from the high-precision map based on the relevant data of the target road element and the preset priorities of different road element types in the high-precision map; determining the binding position of the target road element on the target associated element based on the target associated element and the relevant data of the target road element. This technical solution can find a suitable position and a target associated element capable of binding the target road element from different scenarios of the high-precision map according to the relevant data of the target road element, and ultimately improve the modeling accuracy of the target road element.

Description

Technical Field

[0001] The present disclosure relates to the technical field of electronic maps, and in particular, to a method for modeling target road elements and a method for providing location-based services. Background Art

[0002] With the development of location-based services (LBS), more and more application software integrates service capabilities related to electronic maps. As electronic map products develop towards refinement and authenticity, and in order to meet the precise expression requirements of real map elements, more types of road elements, such as traffic lights, need to be added when making electronic map products, especially high-precision maps. However, the problem faced in the process of binding traffic lights in high-precision maps is that there is a lack of association relationships between traffic lights and road elements in high-precision maps, such as the association relationships between traffic lights and crossbars, traffic lights and vertical poles, etc. Therefore, it is easy for traffic lights to be bound to the wrong road elements or at the wrong binding positions.

[0003] Therefore, when modeling target road elements in high-precision maps, how to determine the associated elements of the target road elements in high-precision maps and the reasonable binding positions of the target road elements on the associated elements is one of the current technical problems to be solved. Summary of the Invention

[0004] Embodiments of the present disclosure provide a method for modeling target road elements and a method for providing location-based services.

[0005] In a first aspect, an embodiment of the present disclosure provides a method for modeling target road elements, which includes:

[0006] Obtain relevant data of the target road element;

[0007] Based on the relevant data of the target road element and the preset priorities of different road element types in the high-precision map, select target associated elements in the high-precision map that can bind the target road element;

[0008] Based on the target associated element and the relevant data of the target road element, determine the binding position of the target road element on the target associated element.

[0009] Further, based on the relevant data of the target road element and the preset priorities of different road element types in the high-precision map, selecting target associated elements in the high-precision map that can bind the target road element includes:

[0010] Start traversing from the road element type with the highest preset priority, and determine whether the target road element meets the preset conditions corresponding to the currently traversed road element type;

[0011] When the target road element meets the preset condition corresponding to the type of the currently traversed road element, determine the target associated element from the road elements of the type of the currently traversed road element;

[0012] When the target road element does not meet the preset condition corresponding to the type of the currently traversed road element, continue to traverse the road element type of the next preset priority until the target associated element is found or all the road element types are traversed.

[0013] Further, determining whether the target road element meets the preset condition corresponding to the type of the currently traversed road element includes:

[0014] Based on the relevant data of the target road element, determine whether there is a gantry within the preset surrounding range of the target road element in the high-precision map;

[0015] When there is a gantry within the preset surrounding range in the high-precision map, determine that the target road element meets the preset condition corresponding to the gantry.

[0016] Further, when the target associated element is a gantry, determining the binding position of the target road element on the target associated element based on the target associated element and the relevant data of the target road element includes:

[0017] Based on the relevant data of the target road element, determine the relative position of the target road element and the gantry in the high-precision map;

[0018] Based on the relative position, determine the binding area of the target road element on the gantry; the binding area includes the vertical pole of the gantry or the lower crossbar of the gantry;

[0019] Determine the binding position in the binding area.

[0020] Further, determining whether the target road element meets the preset condition corresponding to the type of the currently traversed road element includes:

[0021] Based on the relevant data of the target road element, the type and height of the vertical poles within the preset surrounding range of the target road element, determine whether the target road element meets the preset condition corresponding to the vertical poles.

[0022] Further, when the target associated element is a vertical pole, determining the binding position of the target road element on the target associated element based on the target associated element and the relevant data of the target road element includes:

[0023] Layer all target road elements to be bound to the vertical rod based on the height of the target road elements;

[0024] For each layer of target road elements, group them based on the direction of the target road elements, and the difference in the directions of the target road elements in the same group is within a preset direction threshold range;

[0025] For the target road elements in the same layer, determine the overall position of each group of target road elements relative to the vertical rod;

[0026] Based on the overall position, determine the binding position of each target road element in the same group of target road elements on the vertical rod.

[0027] Further, determine whether the target road elements meet the preset conditions corresponding to the current traversed road element type, including:

[0028] After the binding of the vertical rod fails, set a first search interval based on the direction of the target road elements;

[0029] Search for all unbound target road elements within the first search interval of the high-precision map;

[0030] Group the target road elements based on their directions and heights;

[0031] For each group of target road elements, set a second search interval based on the direction of the line connecting the two target road elements farthest apart;

[0032] Conduct a secondary search within the second search interval of the high-precision map;

[0033] Based on the direction and height, add the target road elements found in the secondary search to the group of target road elements;

[0034] For each group of target road elements, determine whether there is at least one candidate vertical rod within the range of the group of target road elements.

[0035] Further, when the target road elements meet the preset conditions corresponding to the current traversed road element type, determine the target associated elements from the road elements of the current traversed road element type, including:

[0036] When there is at least one candidate vertical rod, fit a crossbar straight line based on the positions of the target road elements in the group;

[0037] Determine the crossbar straight line as the target associated element, and based on the crossbar straight line, determine the target vertical rod corresponding to the target associated element from the candidate vertical rods.

[0038] Further, the target associated element is a crossbar. Determining the binding position of the target road element on the target associated element based on the relevant data of the target associated element and the target road element includes:

[0039] Determining the direction of the crossbar and the binding position of the target road element on the crossbar based on the average height of the same group of target road elements, the position of the target vertical bar, and the average position of the target road elements in the same group of target road elements;

[0040] Determining the length of the crossbar based on the binding position on the crossbar.

[0041] Further, determining whether the target road element meets the preset conditions corresponding to the currently traversed road element type includes:

[0042] Dividing the unbound target road elements within the same preset plane range and the same preset height range into the same group of target road elements;

[0043] Determining whether there is an upper layer road suitable for binding the target road element in the high-precision map based on the height of the same group of target road elements.

[0044] Further, the target associated element is an upper layer road. Determining the binding position of the target road element on the target associated element based on the relevant data of the target associated element and the target road element includes:

[0045] Determining the overall position of the group of target road elements in the upper layer road based on the highest position of the same group of target road elements;

[0046] Determining the binding position of each target road element in the group of target road elements based on the highest position and the overall position.

[0047] Further, determining whether the target road element meets the preset conditions corresponding to the currently traversed road element type includes:

[0048] Determining whether the target road element is within the preset range of any toll station based on the relevant data of the target road element.

[0049] Further, the target associated element is a toll station. Determining the binding position of the target road element on the target associated element based on the relevant data of the target associated element and the target road element includes:

[0050] Determining the binding position of the target road element based on the center lines of each lane corresponding to the toll station and the toll station ceiling.

[0051] In a second aspect, an embodiment of the present invention provides a method for providing location-based services. The method uses the method described in the first aspect to model target road elements in a high-precision map, and provides location-based services for the service object based on the modeled high-precision map. The location-based services include one or more of navigation, map rendering, and route planning.

[0052] In a third aspect, an embodiment of the present invention provides a target road element modeling device, which includes:

[0053] An acquisition module, configured to acquire relevant data of the target road element;

[0054] A selection module, configured to select a target associated element capable of binding the target road element from the high-precision map based on the relevant data of the target road element and the preset priorities of different road element types in the high-precision map;

[0055] A determination module, configured to determine the binding position of the target road element on the target associated element based on the target associated element and the relevant data of the target road element.

[0056] The functions can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0057] In a possible design, the structure of the above device includes a memory and a processor. The memory is used to store one or more computer instructions for supporting the above device to execute the corresponding method, and the processor is configured to execute the computer instructions stored in the memory. The above device may further include a communication interface for the above device to communicate with other devices or communication networks.

[0058] In a fourth aspect, an embodiment of the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored on the memory. The processor executes the computer program to implement the method described in any of the above aspects.

[0059] In a fifth aspect, an embodiment of the present disclosure provides a computer-readable storage medium for storing computer instructions used by any of the above devices. When the computer instructions are executed by a processor, they are used to implement the method described in any of the above aspects.

[0060] In a sixth aspect, an embodiment of the present disclosure provides a computer program product, which includes computer instructions. When the computer instructions are executed by a processor, they are used to implement the method described in any of the above aspects.

[0061] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0062] When implementing or updating a high-precision map according to the embodiments of the present disclosure, for a target road element to be modeled, relevant data of the target road element is obtained. Then, based on the relevant data and the preset priorities of different road element types that can be bound to the target road element, a target associated element suitable for binding to the target road element is searched from the periphery of the target road element, and the binding position for binding the target road element to the target associated element is determined based on the relevant data of the target road element and the attribute information of the target associated element. In this way, according to the relevant data of the target road element, a suitable position and a target associated element capable of binding the target road element can be found in different scenarios of the high-precision map, and finally, the modeling accuracy of the target road element can be improved.

[0063] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] With reference to the accompanying drawings, through the following detailed description of non-limiting embodiments, other features, objects, and advantages of the present disclosure will become more apparent. In the drawings:

[0065] Figure 1 A flowchart showing a method for modeling a target road element according to an embodiment of the present disclosure is shown;

[0066] Figure 2 A schematic flow diagram showing the process of traversing different types of road elements in a high-precision map in an embodiment of the present disclosure is shown;

[0067] Figure 3 A schematic flow diagram showing a process of binding a target road element to a gantry according to an embodiment of the present disclosure is shown;

[0068] Figure 4 A schematic diagram showing the determination of the binding position when there are two groups of target road elements on the same layer according to an embodiment of the present disclosure is shown;

[0069] Figure 5 A schematic diagram showing the determination of the binding position when there are three groups of target road elements on the same layer according to an embodiment of the present disclosure is shown;

[0070] Figure 6 A schematic flow diagram showing a process of binding a target road element to a vertical pole according to an embodiment of the present disclosure is shown;

[0071] Figure 7 A schematic flow diagram showing a process of binding a target road element to a crossbar according to an embodiment of the present disclosure is shown;

[0072] Figure 8Shows a schematic flowchart of binding a target road element to an upper - layer road according to an embodiment of the present disclosure;

[0073] Figure 9 Shows a schematic flowchart of adding a target road element to be drawn on a toll station according to an embodiment of the present disclosure;

[0074] Figure 10 Shows a schematic diagram of the application scenario of a high - precision map modeled with a target road element during the navigation process according to an embodiment of the present disclosure;

[0075] Figure 11 Is a schematic structural diagram of an electronic device suitable for implementing a method for modeling a target road element and / or a method for providing a location - based service according to an embodiment of the present disclosure. Detailed implementation manners

[0076] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, parts irrelevant to the description of the exemplary embodiments are omitted in the drawings.

[0077] In the present disclosure, it should be understood that terms such as "including" or "having" are intended to indicate the presence of features, numbers, steps, actions, components, parts, or combinations thereof disclosed in this specification, and do not exclude the possibility of the presence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0078] In addition, it should be noted that, without conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The present disclosure will be described in detail below with reference to the drawings and in combination with the embodiments.

[0079] The details of the embodiments of the present disclosure are introduced in detail below through specific examples.

[0080] Figure 1 Shows a flowchart of a method for modeling a target road element according to an embodiment of the present disclosure. As Figure 1 shown, the method for modeling the target road element includes the following steps:

[0081] In step S101, relevant data of the target road element is obtained;

[0082] In step S102, based on the relevant data of the target road element and the preset priorities of different road element types in the high - precision map, a target associated element capable of binding the target road element is selected from the high - precision map;

[0083] In step S103, based on the relevant data of the target associated element and the target road element, determine the binding position of the target road element on the target associated element.

[0084] In this embodiment, the target road element may be one or more target road elements that need to be added during the high-precision map modeling process, such as traffic lights. The relevant data of the target road element may include, but is not limited to, attribute data such as the position information of the target road element. The position information of the target road element may include, but is not limited to, the horizontal position and height of the target road element in the real world. The position information of the target road element can be obtained through road data collection methods, such as longitude and latitude data in the real world.

[0085] In some embodiments, the relevant data of the target road element may further include the identifier, type, direction, and candidate road of the target road element. The position information of the target road element may correspond to the longitude and latitude data of the target road element in the geographical environment, and this position information may further include the geometric position obtained after being mapped to the high-precision map coordinate system or other coordinate systems. In the following embodiments, the case of being mapped to the high-precision map coordinate system is taken as an example for illustration. This geometric position includes the horizontal position and height. However, it can be understood that this geometric position is not limited to the position in the high-precision map coordinate system.

[0086] The candidate road of the target road element may be the associated road of the target road element collected during data collection, but this candidate road is not necessarily the real associated road of the target road element, which specifically depends on the accuracy of the collected data.

[0087] A currently common method for modeling the target road element is as follows: The binding position of the target road element on the high-precision map is the known geometric position. For a single target road element, the nearest neighbor principle is used to find and bind it to a vertical pole. For multiple target road elements corresponding to the same vertical pole, a corresponding horizontal bar is generated. However, in this way, the processes of finding vertical poles for multiple target road elements are independent of each other. There may be target road elements that are actually on the same horizontal bar but are bound to different vertical poles due to the nearest neighbor principle, resulting in the situation of being bound to the wrong vertical pole. In addition, for the target road elements bound to the same vertical pole, during the process of generating the horizontal bar, due to the lack of a classification process, all target road elements are calculated to obtain a horizontal bar, which may not conform to the actual situation of binding to the horizontal bar.

[0088] In the embodiments of the present disclosure, the associated road elements that the target road element may be bound to are classified into multiple types, and preset priorities are assigned to different types of associated road elements. In some embodiments, the associated road elements that may be bound to the target road element are sorted from high to low according to the preset priority as follows: 1) the target road element is bound to a gantry; 2) the target road element is bound to a vertical pole; 3) the target road element is bound to a crossbar; 4) the target road element is bound to an upper road; 5) the target road element is bound to a toll station, etc. Of course, it can be understood that the road elements that may be bound to the target road element are not limited to the above 5 types, and may also include other types, and the preset priority can be determined in advance based on the rationality in real road traffic.

[0089] When modeling the target road element during the production or update process of the high-precision map, the surrounding associated road elements of the target road element can be searched in the order from high to low according to the above preset priority, that is, search for known associated road elements within a certain range where the target road element is located, and determine the target associated element that can be bound to the target road element from them. For example, the gantry within a certain range around the target road element can be searched preferentially. If there is a gantry suitable for binding to the target road element, then the suitable gantry is determined as the target associated element of the target road element, and then the binding position of the target road element is determined on the gantry; if there is no suitable gantry, then the vertical pole, crossbar, upper road, toll station, etc. with lower priority can be searched in the above manner until a target associated element suitable for binding to the target road element is found, or it is finally determined that there is no suitable associated road element for binding around.

[0090] After determining the target associated element, the binding position of the target road element on the target associated element can be determined based on the attributes of different types of target associated elements and the relevant data of the target road element, and then the target road element is modeled on the high-precision map based on this binding position.

[0091] Figure 2 The flowchart showing the process of traversing different types of road elements in the high-precision map in an embodiment of the present disclosure is shown. As Figure 2 shown, referring to steps S201-S210, first, based on the relevant data of the target road element, it is determined whether it meets the preset conditions of the gantry. If it meets, the target road element is bound to the gantry. If it does not meet, the vertical pole, crossbar, upper road, and toll station are traversed in sequence until it is bound to a certain road element, or after no suitable road element is found, the output result of binding failure is finally obtained.

[0092] In an embodiment of the present disclosure, when creating or updating a high-precision map, for a target road element to be modeled, relevant data of the target road element is obtained. Then, based on the relevant data and the preset priorities of different road element types that can be bound to the target road element, a target associated element suitable for binding to the target road element is searched from around the target road element, and the binding position for binding the target road element to the target associated element is determined based on the relevant data of the target road element and the attribute information of the target associated element. In this way, according to the relevant data of the target road element, a suitable position and a target associated element for binding the target road element can be found in different scenarios of the high-precision map, and finally, the modeling accuracy of the target road element can be improved.

[0093] In an alternative implementation of this embodiment, step S102, that is, the step of selecting a target associated element capable of binding the target road element from the high-precision map based on the relevant data of the target road element and the preset priorities of different road element types in the high-precision map, further includes the following steps:

[0094] Starting from the road element type with the highest preset priority, traverse to determine whether the target road element meets the preset conditions corresponding to the currently traversed road element type;

[0095] When the target road element meets the preset conditions corresponding to the currently traversed road element type, determine the target associated element from the road elements of the currently traversed road element type;

[0096] When the target road element does not meet the preset conditions corresponding to the currently traversed road element type, continue to traverse the road element type with the next preset priority until the target associated element is found or all the road element types are traversed.

[0097] In this alternative implementation, all or part of the road element types that can be bound to the target road element and the preset priorities of different road element types can be determined in advance. For example, the road element types that can be bound to the target road element may include, but are not limited to, gantries, vertical poles, horizontal bars, upper roads, toll stations, etc.

[0098] When modeling a target road element, known road elements that can bind the target road element can be searched based on the position information of the target road element. In order to bind the target road element to a suitable known road element to be as consistent as possible with the deployment of real traffic facilities, the searched known road elements can be traversed based on a preset priority. Starting from the known road element with the highest priority, it is determined whether the target road element meets the preset conditions for the type of road element being currently traversed. When it does not meet the preset conditions for the type of road element being currently traversed, the next priority type of road element is traversed until a road element type that meets the preset conditions is found, or all types of road elements have been traversed.

[0099] In some embodiments, different preset conditions can be set based on different types of road elements. When the target road element meets the preset conditions for a road element type with a higher priority, a target associated element suitable for binding the target road element is found from the road element type with a higher priority, and the binding position of the target road element is determined based on the relevant data of the target road element and the attribute information of the target associated element. If the target road element does not meet the preset conditions for the road element type with a higher priority, then the road element type of the next preset priority is traversed.

[0100] In this way, the target road element can be bound to the most suitable target associated element, and the most suitable binding position of the target road element can be found.

[0101] In an alternative implementation of this embodiment, the step of determining whether the target road element meets the preset conditions corresponding to the type of road element being currently traversed further includes the following steps:

[0102] Based on the relevant data of the target road element, it is determined whether there is a gantry within the preset surrounding range of the target road element in the high-precision map;

[0103] When there is a gantry within the preset surrounding range in the high-precision map, it is determined that the target road element meets the preset conditions corresponding to the gantry.

[0104] In this alternative implementation, when the type of road element being currently traversed is a gantry, a surrounding range of the target road element can be preset. This surrounding range can be a range centered on the position of the target road element, or a range obtained by expanding the position of the target road element in one or several directions. Specifically, it can be determined based on actual needs and is not limited here.

[0105] It can be determined whether there is a gantry within the surrounding range on the high-precision map. If there is a gantry, it can be considered that the target road element meets the preset conditions corresponding to the gantry. If not, it can be considered that the target road element does not meet the preset conditions corresponding to the gantry, and then the traversal of the road element type with the next preset priority can be continued.

[0106] If there are multiple gantries within the surrounding range, the gantry closest to the target road element can be selected as the target associated element. If there is only one gantry within the surrounding range, the only gantry is used as the target associated element of the target road element.

[0107] In an alternative implementation of this embodiment, the target associated element is a gantry. The step of determining the binding position of the target road element on the target associated element based on the target associated element and the relevant data of the target road element further includes the following steps:

[0108] Determine the relative position of the target road element in the high-precision map with respect to the gantry based on the relevant data of the target road element;

[0109] Determine the binding area of the target road element on the gantry based on the relative position; the binding area includes the gantry vertical pole or the lower crossbar of the gantry;

[0110] Determine the binding position within the binding area.

[0111] In this alternative implementation, after the gantry is determined as the target associated element and serves as the binding object of the target road element, there are two types of binding areas: the gantry vertical pole and the lower crossbar of the gantry. Therefore, when binding to the gantry, first determine the binding area of the target road element on the gantry, and this binding area can be the gantry vertical pole or the lower crossbar of the gantry.

[0112] After determining the binding area, the exact binding position of the target road element can be determined on this binding area, and the target road element is bound at this binding position.

[0113] In some embodiments, the relative position of the target road element in the high-precision map with respect to the gantry can be determined based on the relevant data of the target road element, and the binding area of the target road element is determined to be the gantry vertical pole or the lower crossbar of the gantry based on the relative position; when the binding area is the gantry vertical pole, the position point on the gantry vertical pole that is at the same height position as the target road element is used as the binding position of the target road element; when the binding area is the lower crossbar of the gantry, the position point on the lower crossbar of the gantry that is closest to the target road element is used as the binding position of the target road element.

[0114] In some embodiments, the crossbar direction of the gantry, i.e., the direction perpendicular to the road below the gantry, can be taken as the X-axis, and the center position of the gantry can be taken as the origin. Calculate the range of the gantry in the X direction, and calculate the relative position of the target road element in the X direction. Compare the relative position of the target road element in the X direction with the range of the gantry in the X direction to determine whether the target road element is within the gantry range.

[0115] If the target road element is outside the gantry range, the binding area of the target road element is determined to be the gantry vertical pole; if the target road element is within the gantry range, the binding area of the target road element is determined to be the lower crossbar of the gantry.

[0116] In addition, considering the existence of tidal lane gantries, it is also possible to judge whether the target road element can be bound to the front gantry vertical pole or the lower crossbar of the gantry, or the rear gantry vertical pole and the lower crossbar of the gantry according to the direction of the target road element.

[0117] After determining the binding area, the binding position of the target road element can be determined based on different binding areas. If the binding area is the gantry vertical pole, the position point corresponding to the height of the target road element on the gantry vertical pole is taken as the binding position of the target road element. If the binding area is the lower crossbar of the gantry, the position point on the gantry crossbar closest to the target road element is taken as the binding position of the target road element.

[0118] Figure 3 Shows a schematic flowchart of binding a gantry to a target road element according to an embodiment of the present disclosure. As Figure 3 shown, referring to steps S301 - S313, search for gantries within a certain range of the target road element, select the gantry with the closest distance as the most suitable binding object, and judge whether the target road element is within the length range of the gantry perpendicular to the road direction based on the position of the target road element. If so, bind the target road element to the lower crossbar of the gantry, and if not, bind it to the near-side (left or right) vertical pole of the gantry. For the lower crossbar, the front lower crossbar and the rear lower crossbar, when the direction of the target road element is consistent with the direction of the road, bind the target road element to the rear lower crossbar of the gantry, otherwise bind the target road element to the front lower crossbar of the gantry. The vertical poles are divided into the near-rear vertical pole and the near-front vertical pole. When the direction of the target road element is consistent with the direction of the road, bind the target road element to the near-rear vertical pole of the gantry, otherwise bind the target road element to the near-front vertical pole of the gantry.

[0119] In an alternative implementation of this embodiment, the step of determining whether the target road element meets the preset conditions corresponding to the currently traversed road element type further includes the following steps:

[0120] Based on the relevant data of the target road element, determine whether the target road element meets the preset conditions corresponding to the vertical pole based on the type and height of the vertical poles within the preset surrounding range of the target road element.

[0121] In this alternative implementation, if the currently traversed road element type is a vertical pole, that is, no other high-priority road elements suitable for binding the target road element, such as gantries, are found during the previous traversal, the target road element can be determined whether it meets the vertical pole of the next priority based on the relevant data of the target road element, the type of the vertical poles within the preset surrounding range of the target road element, and the height of the target road element.

[0122] In some embodiments, based on the relevant data of the target road element, it can be determined whether there is a vertical pole of a preset type within the preset surrounding range of the target road element in the high-precision map, and whether the height of the target road element is within the known height range of the vertical pole; when there is a vertical pole of a preset type within the preset surrounding range of the target road element and the height of the target road element is within the known height range of the vertical pole, it is determined that the target road element meets the preset conditions corresponding to the vertical pole.

[0123] In some embodiments, the position of the target road element on the high-precision map can be determined as the origin, and vertical poles within the preset surrounding range are searched in the high-precision map. It should be noted that the preset surrounding range set when searching for vertical poles and the preset surrounding range set when searching for gantries can be different or the same, depending on actual needs, and are not limited here.

[0124] In some embodiments, vertical poles of a preset type can be searched within the preset surrounding range. For example, the preset type can include but is not limited to vertical poles of the signal light type and other types of vertical poles (in addition to the signal light type and other types in the high-precision map, there may also be vertical poles of the warning pole type, etc.). Of course, it can be understood that if there are any other types of vertical poles suitable for binding the target road element in the high-precision map, the other arbitrary types of vertical poles can also be set as the preset type, which can be determined according to actual needs and will not be elaborated here.

[0125] In some embodiments, when searching for vertical poles of a preset type within the preset surrounding range, a height range of the vertical poles can also be set, that is, only search for vertical poles whose height range meets the following conditions:

[0126] 1) The minimum height of the vertical pole is less than the height of the target road element.

[0127] 2) The maximum height of the vertical rod is greater than the height of the target road element.

[0128] If the height range of the vertical rod does not meet the above conditions, it can be determined that the vertical rod and the target road element are not in the same height range and the target road element cannot be bound.

[0129] If there is a vertical rod within the preset surrounding range of the target road element that meets the above preset type and known height range conditions, it can be determined that the target road element meets the preset conditions corresponding to the vertical rod, and the vertical rod can be determined as the target associated element.

[0130] If there are multiple vertical rods meeting the above conditions, the vertical rod closest to the target road element can be used as the target associated element.

[0131] In an alternative implementation of this embodiment, where the target associated element is a vertical rod, the step of determining the binding position of the target road element on the target associated element based on the relevant data of the target associated element and the target road element further includes the following steps:

[0132] Stratify all target road elements to be bound to the vertical rod based on the height of the target road element;

[0133] For each layer of target road elements, group them based on the direction of the target road element, and the difference in the directions of the target road elements in the same group is within the preset direction threshold range;

[0134] For the target road elements in the same layer, determine the overall position of each group of target road elements relative to the vertical rod;

[0135] Based on the overall position, determine the binding position of each target road element in the same group of target road elements on the vertical rod.

[0136] In this alternative implementation, considering that there may be multiple target road elements bound in different layers on the same vertical rod, and to solve the problem of up and down collision of the target road elements to be bound, this embodiment takes the layer as a unit to process the position, direction, etc. of the target road elements in the same layer.

[0137] In this embodiment, it can be determined the target road elements to be bound to the same vertical rod. When there are multiple such target road elements, they can be stratified based on the height of the target road element, and for each layer of target road elements, they can be further grouped based on the direction of the target road element, and for each group of target road elements in each layer, determine the overall position, and based on this overall position, determine the binding position of each target road element in each group.

[0138] In some embodiments, all target road elements to be bound to the vertical pole can be determined first to form a target road element group; based on the heights of all target road elements in the target road element group, the target road elements in the target road element group are stratified, and the height difference between target road elements in the same layer is within a preset height threshold range; for each layer of target road elements, grouping is performed based on the target road element directions, and the direction difference between target road elements in the same group is within a preset direction threshold range; for target road elements in the same layer, the overall position of each group of target road elements relative to the vertical pole is determined; based on the group overall position, the binding position of each target road element in the same group of target road elements on the vertical pole is determined.

[0139] In some embodiments, a feasible stratification process is as follows:

[0140] Select one of the multiple target road elements that can be bound to the same vertical pole as the first target road element, and use the height of the first target road element as a height reference to calculate the height difference between other target road elements and the first target road element.

[0141] If the calculated height difference is within the preset height threshold range, for example, the height difference is less than or equal to the preset height threshold, it can be determined that the current target road element is in the same layer as the first target road element. If the calculated height difference is outside the preset height threshold range, for example, the height difference is greater than the height threshold, it can be determined that the current target road element is in a different layer from the first target road element, and the current one is used as another height reference.

[0142] And so on, the target road elements on the same vertical pole are stratified by height.

[0143] In some embodiments, after grouping the target road elements, in order to avoid collisions between different layers of target road elements due to the width of the target road elements themselves and height differences between target road elements in the same layer, starting from the lowest layer of target road elements, calculate the average height of each layer of target road elements (which can be calculated based on the height in the position information of each target road element, and the height in the position information is usually the height of the center position of the target road element), and set the average height as the height of the target road elements in the current layer.

[0144] For example, starting from the lowest-level target road element and regarding this lowest-level target road element as the lower layer, calculate the maximum height of the lower-layer target road element (which can be understood as the height of the uppermost edge of this layer of target road element). Then calculate the average height and the minimum height of the upper-layer target road element (which can be understood as the height of the lowermost edge of this layer of target road element). If the minimum height of the upper-layer target road element is less than the maximum height of the lower-layer target road element, then use the difference between the minimum height of the upper-layer target road element and the maximum height of the lower-layer target road element as the lifting height of the upper-layer target road element. Re-determine the average height of the upper-layer target road element according to the lifting height, that is, adjust the average height of the upper-layer target road element to the original average height plus the above difference. In this way, starting from the lowest-level target road element, re-adjust the average height of each layer of target road elements in turn.

[0145] After completing the layering, group the target road elements in each layer. A feasible grouping process is as follows:

[0146] Group the target road elements in the same layer according to the direction of the target road elements. The direction of the first target road element in the same layer can be used as the reference direction. Calculate the difference in direction between the current target road element in this layer and the first target road element. When the difference in direction is within the preset direction threshold range, for example, when the difference in direction is less than or equal to the preset direction threshold, it can be considered that the current target road element and the first target road element belong to the same group. When the difference in direction is not within the preset direction threshold range, for example, when the difference in direction is greater than the preset direction threshold, it is considered that the target road element and the first target road element do not belong to the same group, and use its direction as the reference direction for the next group, and so on until the grouping of the target road elements in the same layer is completed. It should be noted that in this embodiment, the two cases of the forward and reverse directions of the target road element can be considered to belong to the same direction of the target road element, that is, in the process of grouping the target road elements, the positive and negative directions are not distinguished.

[0147] Considering that there may be a certain difference in the directions between the target road elements in the same group, the directions of the target road elements in the same group can be adjusted. A feasible adjustment method is as follows:

[0148] 1) Set the directions of the target road elements in the same group according to the average value of the directions of each target road element in the group, that is, set the directions of the target road elements in the same group to the average value of the directions of all target road elements in the group;

[0149] 2) Calculate the difference between the average directions of target road elements in the same layer but different groups. If there are two groups of target road elements that are approximately perpendicular, that is, the difference between the average directions is within the preset angular range where 90 degrees is located, then the first group of the two groups of target road elements can be used as a reference, and the average direction of the other group of target road elements can be set to be perpendicular to the average direction of the first group of target road elements.

[0150] In this embodiment, after dividing multiple target road elements with the same or similar target road element directions in the same layer of target road elements into the same group of target road elements, the positional relationship between this group of target road elements and the vertical pole can be considered as a whole. At the same time, based on the geometric relationship between each group of target road elements, calculate the relative positions of different groups of target road elements and the vertical pole.

[0151] Therefore, for calculating the planar position of a group of target road elements on the vertical pole in the same layer of target road elements, a feasible position calculation method is as follows:

[0152] From a top-down perspective, each group of target road elements in the same layer of target road elements is regarded as a line segment, and the two endpoints of this line segment are the outermost edge positions of the target road elements at both ends in this group of target road elements, and the vertical pole can be regarded as a point.

[0153] When there is only one group of target road elements in the same layer of target road elements, the central position of this group of target road elements can be determined as the overall position corresponding to the binding on the vertical pole.

[0154] When there are two groups of target road elements in the same layer of target road elements, and the endpoints of the line segments corresponding to these two groups of target road elements are in contact, calculate the intersection point of the perpendicular bisectors of the corresponding two line segments, and use this intersection point as the overall position corresponding to the binding of these two groups of target road elements on the vertical pole. And the offset of the central positions of the two groups of target road elements relative to the horizontal plane of the vertical pole is the relative offset from the center point of the line segment to the intersection point of the perpendicular bisectors of the two line segments.

[0155] Figure 4 Shows a schematic diagram for determining the binding position when there are two groups of target road elements in the same layer according to an embodiment of the present disclosure. As Figure 4 shown, line segment AB and line segment BC respectively represent two groups of target road elements, the intersection point of the perpendicular bisectors of these two line segments is O, and this O point is the overall position corresponding to the binding on the vertical pole. O1 is the offset of a group of target road elements corresponding to line segment AB relative to the vertical pole on the horizontal plane, and O2 is the offset of a group of target road elements corresponding to line segment BC relative to the vertical pole on the horizontal plane.

[0156] When there are three sets of target road elements in the same layer of target road elements, if the included angles between the line segments corresponding to the three sets of target road elements cannot form a triangle (for example, there are two obtuse angles or right angles among the included angles between the line segments), then the positions of the target road elements in the three sets of target road elements relative to the vertical pole remain unchanged.

[0157] If the included angles between the line segments corresponding to the three sets of target road elements can form a triangle, then calculate the included angles of the three line segments and use them as the three interior angles of the triangle. Find the smallest triangle that satisfies the angle constraints such that the three sides of the triangle are greater than or equal to the lengths of the line segments corresponding to the three sets of target road elements. The overall position of each set of target road elements is the center point on each side of the triangle, and the planar position on the vertical pole is the centroid of the triangle. The planar offset of the center of each set of target road elements relative to the overall position on the vertical pole is the offset from the centroid of the triangle to the center point on each side of the triangle. After the above processing, the overall position of the three sets of target road elements bound relative to the vertical pole can be determined, and further, the bound positions of the target road elements within each group can be determined.

[0158] When there are more than three sets of target road elements in the same layer of target road elements, the positions of the three sets of target road elements relative to the vertical pole remain unchanged.

[0159] Figure 5 The figure shows a schematic diagram for determining the bound position when there are three sets of target road elements in the same layer according to an embodiment of the present disclosure. As Figure 5 shown, first determine the three included angles between the three line segments AB, BC, and AC corresponding to the three sets of target road elements, and then determine the smallest triangle corresponding to these three included angles. Taking the position of a set of target road elements corresponding to a line segment such as AB as a reference, move the line segments corresponding to the other two sets of target road elements to form a triangle as Figure 5 described. The intersection point of the medians of the three sides of the triangle is the horizontal plane position corresponding to the binding on the vertical pole, and the offset positions of the three sets of target road elements relative to the vertical pole on the horizontal plane conform to the positional relationship between the above-mentioned smallest triangles.

[0160] After the above processing, the bound positions of each target road element within each group can be calculated:

[0161] When there is one target road element in the same group of target road elements, the bound position of each target road element is the horizontal plane position of the center of the same group of target road elements.

[0162] When there are multiple target road elements in the same group of target road elements, calculate the central position of the multiple target road elements in the same group of target road elements in the width direction, and use it as the central position of the same group of target road elements. The horizontal plane offset of each target road element in the group relative to the central position of the group is the relative offset of each target road element to the central position.

[0163] Figure 6 FIG. shows a schematic diagram of a binding process in which a target road element is bound to a vertical rod in an embodiment of the present disclosure. As Figure 6 shown, referring to steps S601-S608, first find a vertical rod within the range of one of the target road elements to be bound currently that satisfies the height constraint and attribute (i.e., type) constraint, and use the nearest vertical rod as the vertical rod to be bound according to the principle of the nearest distance from all the found vertical rods. Layer the target road elements to be bound to the vertical rod to be bound according to height, adjust the height between the target road elements of each layer, group the target road elements of the same layer according to the direction of the target road elements, adjust the direction within and between the groups of target road elements of the same layer, calculate the binding position of the entire group of target road elements of the same layer, and then calculate the binding position of each target road element within the group.

[0164] In an alternative implementation of this embodiment, the step of determining whether the target road element satisfies the preset conditions corresponding to the currently traversed road element type further includes the following steps:

[0165] After the binding of the vertical rod fails, set a first search interval based on the direction of the target road element;

[0166] Search for all unbound target road elements within the first search interval of the high-precision map;

[0167] Group the target road elements based on the direction and height of the target road element;

[0168] For each group of target road elements, set a second search interval based on the direction of the line connecting the two target road elements farthest apart;

[0169] Conduct a secondary search within the second search interval of the high-precision map;

[0170] Add the target road elements found in the secondary search to the group of target road elements based on the direction and height;

[0171] For each group of target road elements, determine whether there is at least one candidate vertical rod within the range where the group of target road elements is located.

[0172] In an alternative implementation of this embodiment, when the target road element meets the preset conditions corresponding to the type of the currently traversed road element, the step of determining the target associated element from the road elements of the type of the currently traversed road element further includes the following steps:

[0173] When there is at least one of the candidate vertical rods, a horizontal rod straight line is fitted based on the positions of the target road elements in the set of target road elements;

[0174] The horizontal rod straight line is determined as the target associated element, and the target vertical rod corresponding to the target associated element is determined from the candidate vertical rods based on the horizontal rod straight line.

[0175] In the above alternative implementation, the vertical rods around the target road element are traversed based on the method described above. And when the target road element does not meet the preset conditions of the surrounding vertical rods, that is, after the binding of the target road element to the vertical rod fails, it can be determined whether there is a suitable horizontal rod for binding the target road element.

[0176] If binding is performed by calculating the horizontal rod corresponding to the vertical rod closest to the target road element, it is likely to cause the situation that the target road elements on the same horizontal rod are respectively bound to different vertical rods. Therefore, in the embodiments of the present disclosure, the unbound target road elements are first grouped, and the target road elements in the same group are regarded as a whole. The suitable vertical rod that can be commonly bound by the set of target road elements is calculated, and then the set of target road elements is bound to the horizontal rod on the vertical rod, which can avoid the target road elements in the same group being bound to different vertical rods.

[0177] In some embodiments, after the vertical rod binding fails, the direction of the target road element is used as the first vertical direction, the direction perpendicular to the direction of the target road element is used as the first horizontal direction, and a first search range is set based on the first vertical direction and the first horizontal sub-direction; all unbound target road elements are searched within the first search range of the high-precision map; the target road elements with the same or opposite directions of the target road element and the height of the target road element within a preset height range are divided into a group of target road elements; for each group of target road elements, the direction of the line connecting the two target road elements with the farthest distance is used as the second horizontal direction, and the direction perpendicular to the second horizontal direction is used as the second vertical direction, and a second search range is determined based on the second horizontal direction and the second vertical direction; a secondary search is performed within the second search range of the high-precision map; the target road elements with the same or opposite directions of the target road element found in the secondary search and the height of the target road element within a preset height range are added to the group of target road elements; for each group of target road elements, based on the minimum bounding rectangle of the group of target road elements, after expanding the minimum bounding rectangle outward by a preset expansion range, it is determined whether there is at least one candidate vertical rod intersecting the expanded minimum bounding rectangle; wherein, the height of the group of target road elements is within the known height range of the candidate vertical rod.

[0178] In some other embodiments, when the target road element meets the preset conditions corresponding to the type of the currently traversed road element, determining the target associated element from the road elements of the type of the currently traversed road element includes: when there is at least one candidate vertical rod, fitting a crossbar straight line based on the positions of the target road elements in the group of target road elements; determining the crossbar straight line as the target associated element, and determining the candidate vertical rod with the shortest perpendicular distance to the crossbar straight line as the target vertical rod corresponding to the target associated element.

[0179] The implementation details are illustrated by examples below.

[0180] In some embodiments, multiple target road elements can be grouped in the following manner:

[0181] Taking the position of the target road element as the origin, the direction of the target road element as the vertical direction, its normal direction as the horizontal direction, setting a relatively large search distance in the horizontal direction, and setting a relatively small search distance in the vertical direction to form a search range, that is, the distance in the horizontal direction in this search range is greater than the distance in the vertical direction. Within this search range, all unbound target road elements are searched. If the searched target road element has the same or opposite direction as the current target road element and the height of the target road element is the same (for example, the height difference is within a preset height threshold range), then these target road elements are considered as a group.

[0182] Considering the situation where the direction of the target road element is not perpendicular to the direction of the crossbar. Search in the direction of the target road element. If after searching for the target road elements in the same group, there are at least two target road elements in the same group of target road elements, then calculate the horizontal direction of the secondary search based on the positions of the two target road elements that are the farthest apart in the same group of target road elements. Refer to the previous search process and conduct a search here. If a target road element with the same or opposite direction as that of the target road elements in this group and the same height is found, then add the newly found target road element to the group of target road elements.

[0183] After finding all the target road elements in the same group based on the above method, determine whether there is a crossbar suitable for binding corresponding to this group of target road elements.

[0184] In some embodiments, a way to determine whether there is a suitable crossbar for binding is:

[0185] Determine the minimum bounding rectangle of the target road elements in the same group. Expand the minimum bounding rectangle outward and calculate all candidate vertical bars that are collided with, where the height of this group of target road elements is within the preset height range of the candidate vertical bars, that is, the minimum height of the candidate vertical bar is less than the height of this group of target road elements, and the maximum height of the candidate vertical bar is greater than the height of this group of target road elements.

[0186] Based on the positions of multiple target road elements in the same group of target road elements, and based on the principle of least squares, fit to obtain the crossbar straight line equation where the positions of these multiple target road elements are located. The straight line corresponding to the crossbar straight line equation can be determined as the crossbar that this group of target road elements needs to bind. Based on this crossbar straight line equation, the perpendicular distance between all candidate vertical bars and this crossbar straight line can be calculated. The candidate vertical bar with the perpendicular distance within the set preset perpendicular distance threshold range and the minimum perpendicular distance is used as the target vertical bar corresponding to the crossbar.

[0187] If the perpendicular distances of all candidate vertical bars are not within the preset perpendicular distance threshold range, it means that this target road element does not meet the preset conditions corresponding to the crossbar, so the crossbar binding fails.

[0188] In an alternative implementation manner of this embodiment, the target associated element is a crossbar. The step of determining the binding position of the target road element on the target associated element based on the target associated element and the relevant data of the target road element further includes the following steps:

[0189] Determine the direction of the crossbar and the binding position of the target road element on the crossbar based on the average height of the target road elements in the same group, the position of the target vertical bar, and the average position of the target road elements in the same group of target road elements.

[0190] Determine the length of the crossbar based on the binding position on the crossbar.

[0191] In this optional implementation manner, after determining the target vertical rod and the crossbar on the target vertical rod, the direction of the crossbar can be determined based on the average height of the same set of target road elements, the position of the target vertical rod, and the average position of the same set of target road elements, and then the binding position of the target road elements on the crossbar can be determined. The length of the crossbar is determined based on this binding position.

[0192] In some embodiments, the average height of the same set of target road elements can be used as the height of the crossbar, and the direction of the crossbar is determined based on the position of the target vertical rod and the average position (i.e., the average horizontal plane position) of each target road element in the same set of target road elements. The closest position of each target road element in the same set of target road elements to the crossbar is used as the binding position, and the maximum distance from the binding position of the same set of target road elements on the crossbar to the vertical position on the vertical rod is used as the length of the crossbar.

[0193] Figure 7 Show a schematic flowchart of binding target road elements to a crossbar according to an embodiment of the present disclosure. As Figure 7 shown, referring to steps S701 - S713, for all target road elements to be bound to the crossbar, a first grouped search can be performed after determining the search interval based on the position of one of the target road elements. The target road elements with similar heights and directions found are divided into a group. Then, for the target road elements that have been divided into a group, a second grouped search is performed after determining the search interval based on the continuous direction of the two farthest target road elements in the group. The target road elements with similar directions and heights found are divided into a group. Based on the results of the two grouped searches, they are merged to finally obtain each group.

[0194] For each group of target road elements, when the number of target road elements in it is 1, the normal line of the direction of the target road element is used as the corresponding straight line of the crossbar. When there are multiple target road elements, the straight line obtained by fitting the positions of the multiple target road elements is used as the corresponding straight line of the crossbar. In addition, for each group of target road elements, vertical rods with preset attributes (after expanding the minimum circumscribed rectangle of the target road elements in the same group, the collided height range includes the height of the target road elements) within a certain range of the target road elements in the same group are searched; the vertical distance between all the searched vertical rods and the crossbar is calculated, and the vertical rod corresponding to the minimum vertical distance is determined as the vertical rod where the crossbar is located. The direction and length of the crossbar are calculated based on the positions of the target road elements in the same group and the position of the vertical rod, and the point with the closest distance from the target road elements in the same group to the crossbar is used as the binding position.

[0195] In an alternative implementation of this embodiment, the step of determining whether the target road element meets the preset conditions corresponding to the type of the currently traversed road element further includes the following steps:

[0196] Divide the unbound target road elements within the same preset plane range and the same preset height range into the same group of target road elements;

[0197] Based on the height of the same group of target road elements, determine whether there is an upper road in the high-precision map suitable for binding the target road elements.

[0198] In this alternative implementation, after all other road elements with a higher priority than the upper road fail to be bound, that is, the target road element does not meet the preset conditions of other road elements with a higher priority, it can be determined whether the target road element meets the preset conditions for binding to the upper road.

[0199] In some embodiments, the unbound target road elements within the same preset plane range and the same preset height range can be divided into a group, and then based on the height of the same group of target road elements, determine whether there is an upper road in the high-precision map suitable for binding the target road elements.

[0200] In some embodiments, the maximum height of the same group of target road elements can be determined, and it can be determined whether there is an upper road in the high-precision map whose road height is greater than or equal to the maximum height and the difference between the road height and the maximum height is within the preset difference threshold. If so, the upper road is the target associated element suitable for binding the target road elements.

[0201] To solve the situation where multiple target road elements are arranged vertically and then approach the upper road as a whole, the unbound target road elements within the same preset plane range and the same preset height range can be first divided into the same group of target road elements, that is, the target road elements with close planar positions (which can be understood as horizontal plane positions) and small height differences can be divided into a group.

[0202] The offset of the binding positions of each target road element in the same group of target road elements can be the same, and the relative positions of each target road element in the same group of target road elements can be kept unchanged to prevent the target road elements in the same group from being bound to close positions on the lower side of the same upper road, thereby avoiding collisions.

[0203] After dividing target road elements with similar horizontal positions and small height differences into the same group, the upper - layer road within a certain preset distance range can be searched based on the highest position of the target road elements in the same group (i.e., the position of the highest edge). If the height of the found candidate road is greater than the reference position, and the difference between the road height of the candidate road and the reference height is within the preset threshold range, it is considered that the target road elements in this group can be bound to the upper - layer road.

[0204] In an alternative implementation of this embodiment, when the target associated element is the upper - layer road, the step of determining the binding position of the target road element on the target associated element based on the target associated element and the relevant data of the target road element further includes the following steps:

[0205] Based on the highest position of the target road elements in the same group, determine the overall position of the target road elements in the upper - layer road;

[0206] Based on the highest position and the overall position, determine the binding position of each target road element in the group of target road elements.

[0207] In this alternative implementation, the overall position of the target road elements in the same group on the upper - layer road can be determined based on the highest position of the target road elements divided into the same group; then, based on the highest position and the overall position, the binding position of each target road element in the group of target road elements is determined.

[0208] In some embodiments, based on the highest position of the target road elements in the same group, the nearest position point on the nearest lane line in the upper - layer road can be determined; the nearest position point is used as the overall position of the target road elements in the group; based on the highest position and the overall position, the binding position of the highest target road element with the highest position in the group of target road elements is determined; based on the binding position of the highest target road element and the relative offsets of the other target road elements in the group of target road elements from the highest target road element, the binding positions of the other target road elements are determined.

[0209] According to the highest position of the target road elements in the same group (i.e., the position of the highest edge), determine the nearest position point on the nearest lane line in the corresponding upper - layer road. Use this nearest position point on the nearest lane line as the overall position of the target road elements in the group. Within the group of target road elements, calculate the offset from the highest target road element (which can be the horizontal position of the highest target road element) to the overall position (which can also be the horizontal position), and while keeping the offsets of each target road element within the group unchanged, determine the binding positions of each target road element based on the offset from the highest target road element to the overall position.

[0210] Figure 8A schematic flow chart showing the binding of a target road element to an upper-level road according to an embodiment of the present disclosure. As Figure 8 shown, referring to steps S801 - S805, group the target road elements according to their horizontal plane positions and heights. Among the target road elements in the same group, select the target road element with the highest height as the reference target road element. Search for the upper-level road within a certain range that meets the height constraint based on the position of the reference target road element. Use the closest position point of the reference target road element to the nearest lane line of the upper-level road as the overall binding position of the target road elements in this group. Calculate the offset between the binding position of the reference target road element and the overall binding position. Calculate the binding positions of other target road elements in the same group with the same offset as that between the reference target road element and the overall binding position.

[0211] In an alternative implementation of this embodiment, the step of determining whether the target road element meets the preset conditions corresponding to the current traversed road element type further includes the following steps:

[0212] Based on the relevant data of the target road element, determine whether the target road element is within the preset range of any toll station.

[0213] In this alternative implementation, after all road elements with higher priorities have been traversed and no road elements suitable for binding the target road element are found, that is, after the target road elements do not meet the preset conditions of other road elements with higher priorities, it can be determined whether the target road element is within the preset range of any toll station.

[0214] If there is no toll station within the preset range of the target road element, it can be determined that the binding of the target road element to the toll station fails; while if the target road element is within the preset range of any toll station, the target road element can be bound to a suitable position of the toll station.

[0215] In an alternative implementation of this embodiment, when the target associated element is a toll station, the step of determining the binding position of the target road element on the target associated element based on the target associated element and the relevant data of the target road element further includes the following steps:

[0216] Determine the binding position of the target road element based on the center lines of each lane corresponding to the toll station and the toll station ceiling.

[0217] In this alternative implementation, when the target road element is within the preset range of any toll station, the target road element can be bound to the toll station.

[0218] Since the toll station includes multiple lanes and there are target road elements on the toll station ceiling corresponding to each lane, the binding positions of the target road elements can be determined based on the centerlines of each lane and the toll station ceiling.

[0219] In some embodiments, the horizontal position intersections between the centerlines of the lanes corresponding to the toll station and the toll station ceiling can be determined, and the binding positions of the target road elements can be determined based on the horizontal position intersections and the height of the toll station ceiling.

[0220] Take the position intersections of the centerlines of the lanes corresponding to the toll station and the front and rear sides of the toll station ceiling on the horizontal plane as the binding positions of the target road elements on the horizontal plane, and set the height of the toll station ceiling as the binding position of the target road elements in terms of height.

[0221] Considering that in the actual application process, there may be a situation where the height of the toll station ceiling on the high-precision map is inconsistent with the actual height of the toll station in the display world. To avoid the deviation between the binding position calculated based on the relevant data of the target road elements and the position of the toll station drawn on the high-precision map, the target road elements within the preset range of the toll station can be searched first, and then the target road elements whose height differs from the actual height of the toll station ceiling by less than the preset range can be deleted, and corresponding target road elements can be added at the above-mentioned binding positions of the toll station ceiling corresponding to each lane line, so as to finally be consistent with the target road elements on the actual toll station.

[0222] Among the added target road elements, set the direction of the target road element intersecting with the front ceiling to be the same as the direction of the toll station name, and set the direction of the target road element intersecting with the rear ceiling to be opposite to the direction of the toll station name.

[0223] If the direction of the added target road element is the same as the road driving direction, the target road element can also be set as non-passable. If the direction of the added target road element is opposite to the road driving direction, the target road element can be set as normally passable.

[0224] Figure 9 Shows a schematic flow diagram of adding target road elements drawn on the toll station according to an embodiment of the present disclosure. As Figure 9 shown, referring to steps S901 - S904, calculate the lanes associated with the toll station, calculate the intersections of the associated lanes and the front and rear sides of the toll station ceiling, determine the horizontal position of the intersections and the ceiling height as the binding positions of the target road elements, set the target road elements at the binding positions, and set the direction and traffic status of the target road elements.

[0225] A method for providing location-based services according to an embodiment of the present disclosure. The method for providing location-based services models target road elements in a high-precision map by using the above-mentioned target road element modeling method, and provides location-based services for the service object based on the modeled high-precision map. The location-based services include one or more of navigation, map rendering, and route planning.

[0226] In this embodiment, the method for providing location-based services can be executed on a terminal, and the terminal can be a mobile phone, an iPad, a computer, a smart watch, a vehicle, etc. In the embodiment of the present disclosure, the modeling position of the target road element in the high-precision map can be determined, and then the target road element can be added to the high-precision map based on the modeling position. Furthermore, in the process of location-based services, the high-precision map including the target road element can be used to provide more accurate location services for the service object, such as navigation services, path planning services, and / or map rendering services, etc.

[0227] The service object can be a mobile phone, an iPad, a computer, a smart watch, a vehicle, a robot, etc. When navigating for the service object, planning a path, or rendering the roads on the map, location services can be provided for the service object based on the high-precision map modeled with target road elements by using the above method. For specific details, reference can be made to the description of the method for determining the attributes of target road elements above, which will not be elaborated here.

[0228] Figure 10 The application scenario diagram of a high-precision map modeled with target road elements in the navigation process according to an embodiment of the present disclosure is shown. As Figure 10 shown, in the process of updating or creating a high-precision map by the server, the acquisition data of the target road element is obtained; and based on the acquisition data of the target road element, the road elements around the high-precision map that can bind the target road element are searched. Then, based on the priorities corresponding to the types of various road elements, the target associated urea suitable for binding the target road element is determined. Furthermore, the binding position is determined based on the attributes of the target associated element and the relevant data of the target road element, and the target road element is modeled at the binding position. The server records the modeling data of the target road element and the high-precision map data in the database. When the client requests the high-precision map from the server, the high-precision map data including the modeling data of the target road element can be provided to the client. When the client draws the high-precision map, the target road element is displayed at the corresponding position. After passing through the above modeling method of the embodiment of the present disclosure, the display and drawing of the target road element are consistent with the position in the real world, and can provide relatively accurate indication information for users. When the client receives the navigation request from the user and provides navigation information to the user, when passing through the target road element, the target road element can be displayed, and at the same time, the position of the target road element can be voice-reported to remind the user to pay attention.

[0229] The following are embodiments of the disclosed device, which can be used to implement the method embodiments of the present disclosure.

[0230] A target road element modeling device according to an embodiment of the present disclosure. This device can be implemented as part or all of an electronic device through software, hardware, or a combination of both. The target road element modeling device includes:

[0231] An acquisition module configured to acquire relevant data of the target road element;

[0232] A selection module configured to select a target associated element that can bind the target road element from the high-precision map based on the relevant data of the target road element and the preset priorities of different road element types in the high-precision map;

[0233] A determination module configured to determine the binding position of the target road element on the target associated element based on the target associated element and the relevant data of the target road element.

[0234] The target road element modeling method in this embodiment corresponds to the target road element modeling device described above. For specific details, reference can be made to the description of the traffic modeling method above, which will not be elaborated here.

[0235] Figure 11 It is a schematic structural diagram of an electronic device suitable for implementing the target road element modeling method and / or the location-based service providing method according to the embodiments of the present disclosure.

[0236] As Figure 11 shown, the electronic device 1100 includes a processing unit 1101, which can be implemented as a processing unit such as a CPU, GPU, FPGA, NPU, etc. The processing unit 1101 can execute various processes in the embodiments of any of the above methods of the present disclosure according to the program stored in the read-only memory (ROM) 1102 or the program loaded from the storage section 1108 into the random access memory (RAM) 1103. In the RAM 1103, various programs and data required for the operation of the electronic device 1100 are also stored. The processing unit 1101, the ROM 1102, and the RAM 1103 are connected to each other through a bus 1104. The input / output (I / O) interface 1105 is also connected to the bus 1104.

[0237] The following components are connected to the I / O interface 1105: an input section 1106 including a keyboard, a mouse, etc.; an output section 1107 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN card, a modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the I / O interface 1105 as needed. A removable medium 1111, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 1110 as needed so that a computer program read therefrom can be installed into the storage section 1108 as needed.

[0238] Specifically, according to an embodiment of the present disclosure, any of the methods described above with reference to the embodiments of the present disclosure can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product including a computer program tangibly embodied on a machine-readable medium, the computer program including program code for performing any of the methods in the embodiments of the present disclosure. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 1109, and / or installed from the removable medium 1111.

[0239] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code includes one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks may occur in a different order than that noted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0240] The units or modules involved in the embodiments described in the present disclosure can be implemented in software or in hardware. The units or modules described can also be provided in a processor, and the names of these units or modules do not, in some cases, constitute a limitation on the units or modules themselves.

[0241] As another aspect, the present disclosure also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the device in the above-described embodiments; or it may exist separately and be a computer-readable storage medium not assembled into the device. The computer-readable storage medium stores one or more programs, and the one or more programs are used by one or more processors to execute the methods described in the present disclosure.

[0242] The above description is only the preferred embodiments of the present disclosure and the explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present disclosure.

Claims

1. A method for modeling target road elements, wherein, Including: Obtain relevant data of the target road element; Start traversing from the road element type with the highest preset priority, and determine whether the target road element meets the preset conditions corresponding to the road element type being traversed currently; When the target road element meets the preset conditions corresponding to the road element type being traversed currently, determine the target associated element from the road elements of the road element type being traversed currently in the high-precision map; When the target road element does not meet the preset conditions corresponding to the road element type being traversed currently, continue to traverse the road element type with the next preset priority until the target associated element is found or all the road element types are traversed; Based on the target associated element and the relevant data of the target road element, determine the binding position of the target road element on the target associated element.

2. The method according to claim 1, wherein, Determining whether the target road element meets the preset conditions corresponding to the road element type being traversed currently includes: Based on the relevant data of the target road element, determine whether there is a gantry within the preset surrounding range of the target road element in the high-precision map; When there is a gantry within the preset surrounding range in the high-precision map, determine that the target road element meets the preset conditions corresponding to the gantry.

3. The method according to claim 1, wherein When the target associated element is a gantry, based on the target associated element and the relevant data of the target road element, determining the binding position of the target road element on the target associated element includes: Based on the relevant data of the target road element, determine the relative position of the target road element and the gantry in the high-precision map; Based on the relative position, determine the binding area of the target road element on the gantry; the binding area includes the gantry vertical pole or the lower crossbar of the gantry; Determine the binding position in the binding area.

4. The method according to claim 1, wherein, Determining whether the target road element meets the preset conditions corresponding to the road element type being traversed currently includes: Based on the relevant data of the target road element, the type and height of the vertical poles within the preset surrounding range of the target road element, determine whether the target road element meets the preset conditions corresponding to the vertical poles.

5. The method according to claim 1, wherein When the target associated element is a vertical pole, based on the target associated element and the relevant data of the target road element, determining the binding position of the target road element on the target associated element includes: Stratify all target road elements to be bound to the vertical pole based on the height of the target road element; For each layer of target road elements, group them based on the direction of the target road element, and the difference in the directions of the target road elements in the same group is within the preset direction threshold range; For the target road elements in the same layer, determine the overall position of each group of target road elements relative to the vertical pole; Based on the overall position, determine the binding positions of each target road element in the same group of target road elements on the vertical pole.

6. The method according to claim 1, wherein Determining whether the target road element meets the preset conditions corresponding to the road element type being traversed currently includes: After the failure of binding the vertical rod, set a first search range based on the direction of the target road element; Search for all unbound target road elements within the first search range of the high-precision map; Group the target road elements based on the direction and height of the target road element; For each group of target road elements, set a second search range based on the direction of the line connecting the two target road elements with the farthest distance; Conduct a secondary search within the second search range of the high-precision map; Add the target road elements found in the secondary search to the group of target road elements based on the direction and height; For each group of target road elements, determine whether there is at least one candidate vertical rod within the range where the group of target road elements is located.

7. The method according to claim 6, wherein When the target road element meets the preset conditions corresponding to the road element type currently traversed, determine the target associated element from the road elements of the road element type currently traversed in the high-precision map, including: When there is at least one candidate vertical rod, fit a crossbar straight line based on the positions of the target road elements in the group of target road elements; Determine the crossbar straight line as the target associated element, and determine the target vertical rod corresponding to the target associated element from the candidate vertical rods based on the crossbar straight line.

8. The method according to claim 7, wherein When the target associated element is a crossbar, determine the binding position of the target road element on the target associated element based on the target associated element and the relevant data of the target road element, including: Determine the direction of the crossbar and the binding position of the target road element on the crossbar based on the average height of the target road elements in the same group, the position of the target vertical rod, and the average position of the target road elements in the same group of target road elements; Determine the length of the crossbar based on the binding position on the crossbar.

9. The method according to claim 1, wherein, Determine whether the target road element meets the preset conditions corresponding to the road element type currently traversed, including: Divide the unbound target road elements within the same preset plane range and the same preset height range into the same group of target road elements; Determine whether there is an upper-level road suitable for binding the target road element in the high-precision map based on the height of the target road elements in the same group.

10. The method according to claim 9, wherein, When the target associated element is an upper-level road, determine the binding position of the target road element on the target associated element based on the target associated element and the relevant data of the target road element, including: Based on the highest position of the target road elements in the same group, determine the overall position of the group of target road elements in the upper-level road; Based on the highest position and the overall position, determine the binding positions of the target road elements in the group of target road elements.

11. The method according to claim 1, wherein, Determine whether the target road element meets the preset conditions corresponding to the road element type currently traversed, including: Based on the relevant data of the target road element, determine whether the target road element is within the preset range of any toll station.

12. The method according to claim 11, wherein, When the target associated element is a toll station, determine the binding position of the target road element on the target associated element based on the target associated element and the relevant data of the target road element, including: Determine the binding position of the target road element based on the center lines of each lane corresponding to the toll station and the toll station ceiling.

13. A method for providing location-based services, which uses the method according to any one of claims 1-12 to model target road elements in a high-precision map, and provides location-based services for the service recipient based on the modeled high-precision map. The location-based services include: One or more of navigation, map rendering, and route planning.

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