Variable guide lane information extraction method, device and map making and updating method

Abstract

The present application discloses a method, device and map production and updating method for extracting information of a variable guide lane, and belongs to the field of high-precision electronic map technology. The method mainly includes: matching the driving trajectories of multiple vehicles with the lanes of the intersection road in the map, and obtaining the driving trajectory point information corresponding to each lane; determining the variable guide lane in the lane according to the driving trajectory point information; analyzing the driving trajectory point information corresponding to the variable guide lane, and obtaining the guidance information of the variable guide lane in each preset time period, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable guide lane. The present application adopts an automated method to obtain the guidance information of the variable guide lane in each preset time period, without the need for manual intervention, with high efficiency and saving of labor costs, and automatically updates the variable guide lane information in real time to avoid errors caused by information delay of the variable guide lane.

Description

Technical Field

[0001] The present application relates to the technical field of high-precision electronic maps, and in particular to a method and device for extracting information of a variable guide lane, and a method for making and updating a map. Background Art

[0002] Due to the rapid development of cities and the implementation of measures to change the direction of lanes under special circumstances, variable guide lanes, as new road restriction information, have strong data variability and fast update frequency. Whether users can be provided with accurate and appropriate variable guide information is the key to influencing users' decision-making and the key to the quality of lane-level electronic maps.

[0003] In the prior art, the following methods are used to collect variable lane guidance information: (1) Sending a dedicated person to conduct on-site surveys at intersections to check whether the lane entering the intersection is a variable lane. If it is a variable lane, detailed information is collected based on the on-site signs; (2) Obtaining information through notices or plans issued by the traffic control department. However, sending a dedicated person to conduct physical surveys is a huge workload and is costly; dedicated personnel are prone to ignoring on-site signs during on-site surveys, resulting in large collection errors; dedicated personnel conduct on-site surveys at a low frequency, and the actual lane variable guidance information is updated quickly, resulting in differences between the collected information and the changed information, causing information errors. Summary of the invention

[0004] In view of the problems in the prior art of sending special personnel to collect on-site lane information, such as large information errors, information omissions, and low collection frequency, this application mainly provides a variable guide lane information extraction method, device, and map production and updating method.

[0005] In order to achieve the above-mentioned purpose, a technical solution adopted in the present application is: to provide a method for extracting variable-guide lane information, which includes: matching the driving trajectories of multiple vehicles with the lanes of the intersection road in the map, and obtaining the driving trajectory point information corresponding to each lane; determining the variable-guide lane in the lane based on the driving trajectory point information; analyzing the driving trajectory point information corresponding to the variable-guide lane, and obtaining the guidance information of multiple variable-guide lanes in each preset time period, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable-guide lane.

[0006] Another technical solution adopted in the present application is: to provide a map production and updating method, which includes: obtaining vehicle trajectory point data of each intersection road in a predetermined period and a predetermined area to obtain vehicle driving trajectories; matching multiple vehicle driving trajectories with lanes of the intersection road to obtain driving trajectory point information corresponding to each lane in the period; determining a variable guide lane in the lane according to the driving trajectory point information; analyzing the driving trajectory point information corresponding to the variable guide lane to obtain the guidance information of the variable guide lane in each preset time period in the period, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable guide lane; and producing or updating the map according to the guidance information.

[0007] Another technical solution adopted in the present application is: to provide a variable-guide lane information extraction device, which includes: a module for matching the driving trajectories of multiple vehicles with the lanes of the intersection road in the map to obtain the driving trajectory point information corresponding to each lane; a module for determining the variable-guide lane in the lane based on the driving trajectory point information; a module for analyzing the driving trajectory point information corresponding to the variable-guide lane to obtain the guidance information of multiple variable-guide lanes within each preset time period, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable-guide lane.

[0008] Another technical solution adopted by the present application is: to provide a map production and updating device, which includes: a module for obtaining vehicle trajectory point data of each intersection road in a predetermined period and a predetermined area to obtain a vehicle driving trajectory; a module for matching multiple vehicle driving trajectories with lanes of intersection roads to obtain driving trajectory point information corresponding to each lane within the period; a module for determining a variable guide lane in the lane according to the driving trajectory point information; a module for analyzing the driving trajectory point information corresponding to the variable guide lane to obtain the guidance information of the variable guide lane in each preset time period in the period, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable guide lane; a module for producing or updating a map according to the guidance information.

[0009] Another technical solution adopted by the present application is: providing a computer-readable storage medium storing computer instructions, which are operated to execute the method in solution one or solution two.

[0010] The technical solution of the present application can achieve the following beneficial effects: the present application designs a variable guide lane information extraction method, device and map production and updating method. The present application adopts an automated method to obtain the guide information of the variable guide lane in each preset time period, which does not require manual intervention, is highly efficient, saves labor costs, and automatically updates the variable guide lane information in real time to avoid errors caused by information delay of the variable guide lane. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0012] Figure 1 It is a schematic diagram of a specific implementation of a variable guide lane information extraction method of the present application;

[0013] Figure 2 It is a schematic diagram of a specific example of a variable guide lane information extraction method of the present application;

[0014] Figure 3 It is a schematic diagram of a specific example of a variable guide lane information extraction method of the present application;

[0015] Figure 4 It is a schematic diagram of a specific implementation of a variable guide lane information extraction device of the present application;

[0016] Figure 5 It is a schematic diagram of a specific implementation method of a map making and updating method of the present application;

[0017] Figure 6 It is a schematic diagram of a specific implementation of a map making and updating device of the present application.

[0018] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present application are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present application can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present application.

[0020] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0021] With the rapid development of society and technology, electronic maps are increasingly used in people's daily lives, especially in the field of in-vehicle navigation. Compared with traditional electronic maps (road level), lane-level electronic maps further enhance the user experience and provide more accurate, detailed and comprehensive information for users to make decisions. The accuracy and richness of various information on lane-level electronic maps are directly related to the user's experience.

[0022] In the prior art, the following methods are used to collect variable lane guidance information: (1) Sending a dedicated person to conduct on-site surveys at intersections to check whether the lane entering the intersection is a variable lane. If it is a variable lane, detailed information is collected based on the on-site signs; (2) Obtaining information through notices or plans issued by the traffic control department. However, sending a dedicated person to conduct physical surveys is a huge workload and is costly; dedicated personnel are prone to ignoring on-site signs during on-site surveys, resulting in large collection errors; dedicated personnel conduct on-site surveys at a low frequency, and the actual lane variable guidance information is updated quickly, resulting in differences between the collected information and the changed information, causing information errors.

[0023] The method provided in this application is applicable to the following scenarios: intersections with variable guide lanes, and roads or lanes with time limits. This application can be used to supplement the lane information data in the navigation electronic map to improve the quality of the navigation electronic map, data real-time performance, and reliability.

[0024] The inventive concept of the present application is: to screen out variable guide lanes from multiple lanes through vehicle driving trajectory point information of multiple lanes in an intersection road; to count the number of vehicles and time information passing through the variable guide lanes, to obtain guidance information of the variable guide lanes in a preset time period, and to create or update a map based on the guidance information.

[0025] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0026] Figure 1 A specific implementation of a variable guide lane information extraction method of the present application is shown.

[0027] exist Figure 1 In the specific implementation shown, the variable-guide lane information extraction method of the present application mainly includes step S101, matching the driving trajectories of multiple vehicles with the lanes of the intersection road in the map to obtain the driving trajectory point information corresponding to each lane; step S102, determining the variable-guide lane in the lane based on the driving trajectory point information; step S103, analyzing the driving trajectory point information corresponding to the variable-guide lane to obtain the guidance information of the variable-guide lane within each preset time period, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable-guide lane.

[0028] In this specific implementation, the driving trajectory information corresponding to each lane is obtained by matching the vehicle driving trajectory with the lanes at the road intersection in the map. The driving trajectory point information is used to determine whether each lane is a variable-guide lane; if there is a difference in the driving trajectory point information of a lane, the lane is determined to be a variable-guide lane; for example, the driving trajectory point information of a lane is from lane 1 to lane 2, and from lane 1 to lane 3. Since there is a difference in the driving trajectory point information of the lane, the lane is a variable-guide lane. The driving trajectory point information of the variable-guide lane is analyzed to determine the guidance information of the variable-guide lane within each preset time. Preferably, according to the above example, the entry lane information of the corresponding entry lane in each preset time period in the driving trajectory point information is analyzed, wherein the entry lane is the lane that the vehicle enters after passing the road intersection; since the vehicle exits from lane 1 and enters lane 2 or lane 3, lane 1 is the exit lane, and lanes 2 and 3 are both entry lanes; if the driving trajectory point information of the lane is from lane 1 to lane 2 at 07-22, and the driving trajectory point information of the lane is from lane 1 to lane 3 at 22-07, then according to the position relationship between lane 1 and lane 2, and the position relationship between lane 1 and lane 3, the guidance information of the lane at 07-22 and 22-07 is determined. The obtained guidance information lays the foundation for subsequent map production or update.

[0029] exist Figure 1In the specific implementation shown, the variable directional lane information extraction method of the present application mainly includes step S101, matching the driving trajectories of multiple vehicles with the lanes of the intersection road in the map to obtain the driving trajectory point information corresponding to each lane.

[0030] In this specific implementation, multiple vehicle driving trajectories can match one or more lanes of an intersection road in the map, and multiple vehicle driving trajectories can match one or more lanes of multiple intersection roads in the map; correspondingly, the driving trajectory point information of the vehicle corresponding to one or more lanes of an intersection road, or the driving trajectory point information of the vehicle corresponding to one or more lanes of multiple intersection roads can be obtained. The driving trajectory point information of the vehicle includes data such as vehicle number, vehicle location information, time, road lane information, etc. The driving trajectory point information of the vehicle corresponding to each lane is obtained to provide a basis for the subsequent determination of the variable guide lane.

[0031] In a specific example of the present application, taking the case where multiple vehicle driving trajectories match multiple lanes of a road at an intersection in a map, the driving trajectory point information of vehicle No. 1 is D 1-1 (No1,p1,t1,l 1-1 )…D 1-m (No1,p m ,t m ,l 2-1 )…D 1-n (No1,p n ,t n ,l 2-1 ); The driving trajectory point information of vehicle No. 2 is D 2-1 (No2,p1,t1,l 1-1) …D 2-m (No2,p m ,t m ,l 3-1 )…D 2-n (No2,p n , t n ,l 3-1 );where D 1-1 (No1,p1,t1,l 1-1 ) indicates that the position information of vehicle 1 at time t1 is p1, and at time t1, vehicle 1 is traveling in lane 1 of Link 1; D 1-n (No1,p n ,t n ,l 2-1 ) indicates that vehicle No. 1 is at t n The position information of time is p n , and at t n Time 1: Vehicle 1 is driving on Lane 1 of Link 2; D 2-1(No2,p1,t1,l 1-1 ) indicates that the position information of vehicle 2 at time t1 is p1, and at time t1, vehicle 2 is traveling in lane 1 of Link 1; D 2-n (No2,p n ,t n ,l 3-1 ) indicates that vehicle No. 2 is at t n The position information of time is p n , and at t n At this time, vehicle 2 is traveling in lane 1 of Link 3. According to the post-acquaintance track point information of vehicle 1, lane 1 of Link 1 is the exit lane of vehicle 1, and lane 1 of Link 2 is the entry lane of vehicle 1; according to the post-acquaintance track point information of vehicle 2, lane 1 of Link 1 is the exit lane of vehicle 2, and lane 1 of Link 3 is the entry lane of vehicle 2.

[0032] exist Figure 1 In the specific implementation shown, the variable-guide lane information extraction method of the present application also includes step S102, determining the variable-guide lane in the lane according to the driving trajectory point information.

[0033] In this specific implementation, the road lane information in the driving trajectory point information is used to determine whether there is a difference between the current lane and the driving trajectory electrical information, and the number of vehicles corresponding to the driving trajectory point information of the current lane is counted; the variable guide lane in the lane is determined according to the road lane information in the driving trajectory point information and the number of vehicles corresponding to the driving trajectory point information. The determination of the variable guide lane provides a basis for obtaining the guide information of the variable guide lane.

[0034] In a specific embodiment of the present application, a variable oriented lane in a lane is determined according to driving trajectory point information, including: analyzing driving trajectory point information corresponding to multiple lanes respectively, obtaining the Nth driving trajectory point information corresponding to the Nth lane, wherein N is determined according to the number of lanes of the intersection road, and N is a natural number not less than 1; if the Nth driving trajectory point information includes multiple entry lane information, then determining the number of vehicles included in the Nth driving trajectory point information; if the number of vehicles included in the Nth driving trajectory point information is greater than the Nth error threshold, then determining it as a variable oriented lane. The determination of the variable oriented lane provides a basis for obtaining the guidance information of the variable oriented lane.

[0035] In a specific example of the present application, preferably, taking the example of matching multiple lanes of a road at an intersection in a map with multiple vehicle driving trajectories, if the current road intersection has 6 exit lanes, the value range of N is 1-6; the driving trajectory point information corresponding to the 1st exit lane is used as the 1st driving trajectory point information, the driving trajectory point information corresponding to the 2nd exit lane is used as the 2nd driving trajectory point information, and so on, the driving trajectory point information corresponding to the 6th exit lane is used as the 6th driving trajectory point information. The driving trajectory point information corresponding to each exit lane is analyzed respectively; for example, the 1st driving trajectory point information is analyzed first, if the 1st driving trajectory point information includes multiple entry lane information, the number of vehicles contained in the first driving trajectory point information is determined, and if the number of vehicles contained in the 1st driving trajectory point information is greater than the 1st error threshold, the 1st exit lane is determined as a variable guide lane. And so on, all the variable guide lanes in the 6 exit lanes are determined.

[0036] Figure 2 A specific example of a variable guide lane of the present application is shown.

[0037] In such Figure 2 At the road intersection shown, two vehicles enter the entry lane Link2-L3 and the entry lane Link3-L3 respectively from the exit lane Link1-L4. Figure 2 The black track points represent the driving track points of vehicle 1 from the exit lane Link1-L4 to the entry lane Link2-L3, and the gray track points represent the driving track points of vehicle 2 from the exit lane Link1-L4 to the entry lane Link3-L3. 1-n represents the driving trajectory points of vehicle 1 at different times, D 2-n Indicates the driving trajectory points of vehicle No. 2 at various times. By analyzing the driving trajectory point information corresponding to the exit lane Link1-L4, that is, the driving trajectory point information of the driving trajectory point of vehicle No. 1 and the driving trajectory point information of the driving trajectory point of vehicle No. 2, it is determined that the exit lane Link1-L4 contains two entry lane information, which are the entry lane Link2-L3 and the entry lane Link3-L3. At this time, if the error threshold of the exit lane Link1-L4 is 0.01, the number of vehicles 2 passing through the exit lane Link1-L4 is compared with the error threshold of the exit lane Link1-L4, 0.01. Since the number of vehicles in the exit lane Link1-L4 is greater than the error threshold of the exit lane Link1-L4, the exit lane Link1-L4 is determined as a variable guide lane.

[0038] In a specific embodiment of the present application, determining a variable guide lane in a lane according to the driving trajectory point information further includes: setting an Nth error threshold for the Nth lane according to the number of Nth illegal vehicles that have passed through the Nth lane, wherein the number of Nth illegal vehicles is the average number of illegal vehicles that have passed through the Nth lane per day obtained based on the total number of illegal vehicles that have passed through the Nth lane in multiple years or months. The setting of the error threshold improves the accuracy of determining the variable guide lane.

[0039] In a specific example of the present application, preferably, the number of illegal vehicles that travel through the Nth lane on average every day is obtained based on the total number of illegal vehicles that travel through the Nth lane in multiple years or multiple months as the number of illegal vehicles of the Nth illegal vehicle, and the Nth error threshold is obtained based on the number of illegal vehicles of the Nth illegal vehicle and the total number of vehicles that travel through the Nth lane on average every day, wherein the number of illegal vehicles of the Nth illegal vehicle is infinitely close to 0 and can be changed dynamically. For example, if the unit is year, the total number of illegal vehicles that travel through the Nth lane on average every day in the previous year or several years is obtained based on the total number of illegal vehicles that travel through the Nth lane in the previous year or several years, that is, the number of illegal vehicles of the Nth illegal vehicle; the total number of vehicles that travel through the Nth lane on average every day in the previous year or several years is obtained based on the total number of vehicles that travel through the Nth lane in the previous year or several years; the ratio of the total number of illegal vehicles that travel through the Nth lane on average every day in the previous year or several years to the total number of vehicles that travel through the Nth lane on average every day in the previous year or several years is used as the Nth error threshold. If the unit is month, based on the total number of illegal vehicles that passed through the N lane in the previous month or previous months, the total number of illegal vehicles that passed through the N lane on average per day in the previous month or previous months, that is, the Nth number of illegal vehicles, is obtained; based on the total number of vehicles that passed through the N lane in the previous month or previous months, the total number of vehicles that passed through the N lane on average per day in the previous month or previous months is obtained, and the ratio of the total number of illegal vehicles that passed through the N lane on average per day in the previous month or previous months to the total number of vehicles that passed through the N lane on average per day in the previous month or previous months is used as the Nth error threshold.

[0040] exist Figure 1 In the specific implementation shown, the variable guide lane information extraction method of the present application also includes step S103, analyzing the driving trajectory point information corresponding to the variable guide lane to obtain the guidance information of the variable guide lane within each preset time period, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable guide lane.

[0041] In this specific implementation, preferably, taking multiple lanes of a road at an intersection in a map with multiple vehicle driving trajectories as an example, the driving trajectory point information corresponding to the variable guide lane in each time period is analyzed respectively to obtain the guidance information corresponding to the variable guide lane in each time period; if the driving trajectory point information corresponding to the variable guide lane contains two entry direction information, the two guidance information corresponding to the variable guide lane will be analyzed.

[0042] In a specific embodiment of the present application, the driving trajectory point information corresponding to the variable guide lane is analyzed to obtain the guidance information of the variable guide lane in each preset time period, including: according to the Mth variable guide lane corresponding to the Mth i Enter the lane information and determine the Mth i Entering lane information i The entry direction information, where M is determined according to the number of variable guide lanes, i is determined according to the number of entry lanes corresponding to the Mth variable guide lane, and M and i are both natural numbers not less than 1; determine the Mth i The Mth time you enter the lane within the preset time period i The number of vehicles entering; if the Mth i The number of vehicles entering is greater than the Mth i Error threshold, determine the Mth i The driving direction information is the guidance information of the Mth variable guide lane in a preset time period, thereby improving the accuracy of the navigation electronic map.

[0043] In a specific example of the present application, preferably, taking multiple lanes of a road at an intersection in a map of multiple vehicle driving trajectories as an example, if there are multiple variable guide lanes in the current multiple lanes, the multiple variable guide lanes are numbered to obtain the Mth variable guide lane, where M is determined according to the number of variable guide lanes. If the number of variable guide lanes is 3, the value range of M is 1-3. i Enter the lane information and determine the Mth i Entering lane information i Enter the lane corresponding to the Mth i Entry direction information, where i is determined according to the number of entry lanes corresponding to the Mth variable guide lane. If the number of entry lanes corresponding to the Mth variable guide lane is 2, the value range of i is 1-2; if the number of entry lanes corresponding to the Mth variable guide lane is 3, the value range of i is 1-3.

[0044] In a specific example of the present application, according to a preset time period, the time period is divided into time periods to determine the time period from the Mth variable guide lane to the Mth variable guide lane. i Enter the Mth lane iThe number of vehicles; preferably, the preset time period can be set to a time period in minutes, hours, or days. Taking the preset time period in hours, in which the number of entry lanes corresponding to the Mth variable guide lane is 2, as an example, in the driving trajectory point information of one day, the number of M1th vehicles entering the M1th entry lane from the Mth variable guide lane per hour and the number of M2th vehicles entering the M2th entry lane from the Mth variable guide lane per hour are determined. If the number of M1th vehicles is greater than the M1th error threshold at 07-09, the M1th entry direction information is determined as the guidance information of the Mth variable guide lane at 07-09; if the number of M2th vehicles is greater than the M2th error threshold at 17-19, the M2th entry direction information is determined as the guidance information of the Mth variable guide lane at 17-19; at this time, the guidance information of the Mth variable guide lane at 07-09 is the M1th entry direction information, and the guidance information at 17-19 is the M2th entry direction information.

[0045] In a specific embodiment of the present application, according to the Mth variable guide lane corresponding to the Mth i Enter the lane information and determine the Mth i Entering lane information i Enter the lane corresponding to the Mth i Entry direction information, including: i Enter the vehicle position information in the lane information and obtain the Mth i The geographical location of the lane to be driven into; according to the geographical location of the Mth variable guide lane and the Mth i The positional relationship of the geographical location of the entering lane is used to determine the Mth variable guide lane corresponding to the Mth variable guide lane. i Entry direction information. Determining the entry direction information corresponding to the variable-guide lane provides a basis for subsequently determining the guidance information corresponding to the variable-guide lane.

[0046] In a specific example of the present application, preferably, taking the case where the number of entry lanes corresponding to the Mth variable guide lane is 2, the geographical location of the M1th entry lane corresponding to the M1th entry lane is obtained according to the vehicle position information in the M1th entry lane information; the geographical location of the M2th entry lane corresponding to the M2th entry lane is obtained according to the vehicle position information in the M2th entry lane information; based on the positional relationship between the geographical location of the Mth variable guide lane and the geographical location of the M1th entry lane, the M1th entry direction information corresponding to the Mth variable guide lane is determined; based on the positional relationship between the geographical location of the Mth variable guide lane and the geographical location of the M2th entry lane, the M2th entry direction information corresponding to the Mth variable guide lane is determined; wherein the M1th entry direction information and the M2th entry direction information include straight ahead, left turn or right turn.

[0047] In a specific embodiment of the present application, if the Mth i The number of lanes entering is greater than the Mth i Error threshold, then determine the Mth i The driving direction information is the guidance information of the Mth variable guide lane in the preset time period, including: within the preset time period, statistics of the Mth variable guide lane i The number of vehicles entering; in each preset time period, determine the Mth i The number of vehicles entering and the Mth i The size of the error threshold; if the Mth i The number of vehicles entering is greater than the Mth i Error threshold, then determine the Mth i The driving direction information is the guidance information of the Mth variable-guiding lane in a preset time period. The guidance information of the variable-guiding lane is determined in different time periods, thereby improving the accuracy of determining the guidance information corresponding to the variable-guiding lane.

[0048] In a specific example of the present application, preferably, taking the preset time period in hours in which the number of entry lanes corresponding to the Mth variable guide lane is 2 as an example, in the driving trajectory point information of a day, the number of M1th vehicles entering the M1th entry lane from the Mth variable guide lane per hour and the number of M2th vehicles entering the M2th entry lane from the Mth variable guide lane per hour are determined. If the number of M1th vehicles is greater than the M1th error threshold at 07-09, the M1th entry direction information is determined as the guidance information of the Mth variable guide lane at 07-09, wherein the M1th entry direction information is straight ahead; if the number of M2th vehicles is greater than the M2th error threshold at 17-19, the M2th entry direction information is determined as the guidance information of the Mth variable guide lane at 17-19, wherein the M2th entry direction information is left turn; at this time, the guidance information of the Mth variable guide lane at 7-9 is straight ahead, and the guidance information at 17-19 is left turn.

[0049] In a specific embodiment of the present application, if the Mth i The number of lanes entering is greater than the Mth i Error threshold, then determine the Mth i The driving direction information is the guidance information of the Mth variable guide lane in the preset time period, and also includes: according to the preset time period corresponding to the driving through the Mth variable guide lane i The Mth illegal vehicle entering the lane i The number of vehicles violating traffic rules, for the Mth i Enter the lane setting M i Error threshold, where the Mth i The number of illegal vehicles is the average number of illegal vehicles driving through the Nth lane per hour obtained based on the total number of illegal vehicles driving through the Nth lane in multiple years or months. iThe number of illegal vehicles entering the lane. The setting of the error threshold improves the accuracy of determining the guidance information corresponding to the variable guidance lane.

[0050] In a specific example of the present application, preferably, the average number of vehicles violating traffic rules passing through the Nth lane per hour is obtained based on the total number of vehicles violating traffic rules passing through the Nth lane in multiple years or months. i The number of illegal vehicles entering the lane is taken as the Mth i The number of vehicles violating traffic rules, according to the M i The number of illegal vehicles and the average number of vehicles traveling through the Mth i The total number of vehicles entering the lane, get the Mth i Error threshold, where the Mth i The number of illegal vehicles is infinitely close to 0 and can change dynamically. For example, if the unit is year, based on the number of illegal vehicles that drove the Mth vehicle in the previous year or several years, i The total number of vehicles that entered the lane illegally, and the average number of vehicles that drove past the Mth lane per hour in the previous year or previous years. i The total number of vehicles entering the lane violating traffic rules, i.e. i The number of vehicles violating traffic rules; based on the number of vehicles that drove M in the previous year or previous years i The total number of vehicles entering the lane, and the average number of vehicles driving through the M lane per hour in the previous year or previous years. i The total number of vehicles entering the lane; the average number of vehicles entering the lane per hour in the previous year or previous years i The total number of vehicles entering the lane illegally and the average number of vehicles driving past the Mth lane per hour in the previous year or previous years i The ratio of the total number of vehicles entering the lane is taken as the Mth i Error threshold. If the unit is month, based on the number of times the Mth i The total number of vehicles that entered the lane illegally, and the average number of vehicles that drove past the Mth lane per hour in the previous month or several months. i The total number of vehicles entering the lane violating traffic rules, i.e. i The number of vehicles violating traffic rules; based on the number of vehicles that drove M in the previous month or several months i The total number of vehicles entering the lane, and the average number of vehicles driving through the M lane per hour in the previous month or several months. i The total number of vehicles entering the lane; the average number of vehicles driving through the M lane per hour in the previous month or the previous few months i The total number of vehicles entering the lane illegally and the average number of vehicles driving past the Mth lane per hour in the previous month or several months i The ratio of the total number of vehicles entering the lane is taken as the Mth i Error threshold.

[0051] Figure 3 A specific example of the entry direction information corresponding to a variable guide lane of the present application is shown.

[0052] In hours, t0 means 00-01, t1 means 01-02, and so on. 23 Indicates 23:00, the Mth i The error threshold is S α Indicates; Figure 3 As shown, at t6-t 23 During the time period, the Mth i The number of lanes entering is greater than S α Therefore, the guidance information of the Mth variable guide lane at 06-00 is i Entering direction information, if the M i If the driving direction information is a left turn, the guidance information of the Mth variable guide lane at 06-00 is a left turn.

[0053] Figure 4 A specific implementation of a variable guide lane information extraction device of the present application is shown.

[0054] exist Figure 4 In the specific implementation shown, the variable-guide lane information extraction device of the present application mainly includes: a module 401 for matching the driving trajectories of multiple vehicles with the lanes of the intersection road in the map to obtain the driving trajectory point information corresponding to each lane; a module 402 for determining the variable-guide lane in the lane based on the driving trajectory point information; and a module 403 for analyzing the driving trajectory point information corresponding to the variable-guide lane to obtain the guidance information of the variable-guide lane within each preset time period, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable-guide lane.

[0055] In this specific implementation, preferably, module 401 is used to match the 20 types of vehicle driving trajectories with lane 1 and lane 2 of the intersection road in the map, respectively, to obtain driving trajectory point information corresponding to each lane, wherein lane 1 contains 8 types of driving trajectory point information, and lane 2 contains 12 types of driving trajectory point information. Module 402 uses the 20 types of driving trajectory point information to determine the variable oriented lanes in lanes 1 and 2, wherein by comparing the entry lane information of the 8 types of driving trajectory point information contained in lane 1, if there is a difference in the entry lanes, then lane 1 is a variable oriented lane; by comparing the entry lane information of the 12 types of driving trajectory point information contained in lane 2, if there is a difference in the entry lanes, then lane 2 is a variable oriented lane; by comparing the entry lane information of the 12 types of driving trajectory point information contained in lane 2, if there is a difference in the entry lanes, then lane 2 is a variable oriented lane; by comparing, it is known that the entry lane information of the driving trajectory point information in lane 2 is different, so lane 2 is determined to be a variable oriented lane. The module 403 uses the 12 types of driving trajectory point information included in the No. 2 lane to determine the guidance information of the No. 2 lane in each preset time period, wherein the time information of the three types of driving trajectory point information is analyzed, and it is known that at 07-09, 6 of the three types of driving trajectory point information are driving from the No. 2 lane to the No. 3 lane, and at 09-18, the remaining 6 of the three types of driving trajectory point information are driving from the No. 2 lane to the No. 4 lane; the positional relationship between the entry lane and the exit lane of the six types of driving trajectory point information at 07-09, that is, the positional relationship between the No. 2 lane and the No. 3 lane is analyzed, and it is known that the vehicle drives straight into the No. 3 lane after driving out of the No. 2 lane; the positional relationship between the entry lane and the exit lane of the six types of driving trajectory point information at 09-18, that is, the positional relationship between the No. 2 lane and the No. 4 lane is analyzed, and it is known that the vehicle turns left into the No. 3 lane after driving out of the No. 2 lane; therefore, the variable guidance information of the No. 2 lane is to go straight at 07-09 and turn left at 09-18.

[0056] The present application provides a device for extracting information of a variable-guided lane, which can be used to execute the method for extracting information of a variable-guided lane described in any of the above embodiments. The implementation principle and technical effect are similar and will not be repeated here.

[0057] Figure 5 A specific implementation of a map making and updating method of the present application is shown.

[0058] exist Figure 5In the specific implementation manner shown, the map production and updating method of the present application mainly includes step S501, obtaining vehicle trajectory point data of each intersection road in a predetermined period and a predetermined area to obtain the vehicle driving trajectory; step S502, matching multiple vehicle driving trajectories with lanes of the intersection road to obtain driving trajectory point information corresponding to each lane in the period; step S503, determining the variable guide lane in the lane according to the driving trajectory point information; step S504, analyzing the driving trajectory point information corresponding to the variable guide lane, and obtaining the guidance information of the variable guide lane in each preset time period in the period, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable guide lane; step S505, producing or updating the map according to the guidance information.

[0059] In this specific implementation, according to the map making or updating requirements, the vehicle trajectory point data of each intersection road in the predetermined area and the predetermined period are obtained to obtain the vehicle driving trajectory of the vehicles appearing in the area in the predetermined period. The information of each driving trajectory point is matched with the lanes of each intersection road in the area respectively to obtain the driving trajectory point information corresponding to each lane in the predetermined period. By analyzing the driving trajectory point information, the variable guide lanes in the lanes of the area are obtained, and the guidance information of each variable guide lane is obtained. The map is made or updated according to the guidance information. Since the variable guide lane is an emerging road restriction information, its data variability is strong and the update frequency is fast. Therefore, by making or updating the map through accurate variable guide guidance information, the quality of the lane-level electronic map is improved, and the user experience is stronger.

[0060] The map production and updating method provided in the present application can be used to execute the variable guide lane information extraction method described in any of the above embodiments. Its implementation principle and technical effects are similar and will not be repeated here.

[0061] Figure 6 A specific implementation of a map making and updating device of the present application is shown.

[0062] exist Figure 6In the specific implementation manner shown, the map making and updating device of the present application mainly includes a module 601 for acquiring vehicle trajectory point data of each intersection road in a predetermined period and a predetermined area to obtain a vehicle driving trajectory; a module 602 for matching multiple vehicle driving trajectories with lanes of intersection roads to obtain driving trajectory point information corresponding to each lane within the period; a module 603 for determining a variable guide lane in the lane based on the driving trajectory point information; a module 604 for analyzing the driving trajectory point information corresponding to the variable guide lane to obtain the guidance information of the variable guide lane within each preset time period in the period, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable guide lane; and a module 605 for making or updating a map based on the guidance information.

[0063] In this specific implementation, preferably, the vehicle trajectory point data of 20 vehicles passing through the intersection road in a predetermined period and a predetermined area are used by module 601 to obtain the vehicle driving trajectories corresponding to the 20 vehicles. The 20 types of vehicle driving trajectories are matched with lane 1 and lane 2 of the intersection road in the map by module 602 to obtain the driving trajectory point information corresponding to each lane, wherein lane 1 contains 8 types of driving trajectory point information and lane 2 contains 12 types of driving trajectory point information. The variable oriented lanes in lanes 1 and 2 are determined by module 603 using the 20 types of driving trajectory point information, wherein by comparing the entry lane information of the 8 types of driving trajectory point information contained in lane 1, if there is a difference in the entry lanes, lane 1 is a variable oriented lane; by comparing the entry lane information of the 12 types of driving trajectory point information contained in lane 2, if there is a difference in the entry lanes, lane 2 is a variable oriented lane; by comparing the entry lane information of the 12 types of driving trajectory point information contained in lane 2, if there is a difference in the entry lanes, lane 2 is a variable oriented lane; by comparing, it is known that the entry lane information of the driving trajectory point information in lane 2 is different, so lane 2 is determined to be a variable oriented lane. Module 604 uses the 12 types of driving trajectory point information included in lane 2 to determine the guidance information of lane 2 in each preset time period, wherein the time information of three types of driving trajectory point information is analyzed, and it is known that at 07-09, six of the three types of driving trajectory point information are driving from lane 2 to lane 3, and at 09-18, the remaining six of the three types of driving trajectory point information are driving from lane 2 to lane 4; the positional relationship between the entry lane and the exit lane of the six types of driving trajectory point information at 07-09, that is, the positional relationship between lane 2 and lane 3, is analyzed, and it is known that the vehicle drives straight into lane 3 after driving out of lane 2; the positional relationship between the entry lane and the exit lane of the six types of driving trajectory point information at 09-18, that is, the positional relationship between lane 2 and lane 4, is analyzed, and it is known that the vehicle turns left into lane 3 after driving out of lane 2; therefore, the variable guidance information of lane 2 is to drive straight at 07-09 and turn left at 09-18. Module 605 uses the variable guidance information obtained that Lane 2 goes straight from 07:00 to 09:00 and turns left from 09:00 to 18:00 to create or update the map, so that users can know the accurate road prohibition or traffic information in each time period to avoid violations.

[0064] The present application provides a map making and updating device, which can be used to execute the map making and updating method described in the above embodiment. Its implementation principle and technical effect are similar and will not be repeated here.

[0065] In a specific embodiment of the present application, each functional module in a map making and updating device of the present application may be directly in hardware, in a software module executed by a processor, or in a combination of the two.

[0066] The software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from and write information to the storage medium.

[0067] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor may be a microprocessor, but in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. In an alternative, the storage medium may be integrated with the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and the storage medium may reside in a user terminal as discrete components.

[0068] In another specific embodiment of the present application, a computer-readable storage medium stores computer instructions, and the computer instructions are operated to execute the variable guide lane information extraction method or map production and updating method described in the above embodiments.

[0069] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0070] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0071] The above description is only an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structural transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for extracting variable guide lane information, characterized in that: include: Matching the driving trajectories of multiple vehicles with the lanes of the intersection road in the map to obtain the driving trajectory point information corresponding to each lane; Determining a variable guide lane in the lane according to the driving trajectory point information; Analyzing the driving trajectory point information corresponding to the variable-guiding lane to obtain the guidance information of the variable-guiding lane in each preset time period, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable-guiding lane; The step of analyzing the driving trajectory point information corresponding to the variable-guide lane to obtain the guidance information of the variable-guide lane in each preset time period includes: Determine, according to the Mth entry lane information corresponding to the Mth variable guide lane, the Mth entry direction information in the Mth entry lane information, wherein M is determined according to the number of the variable guide lanes, i is determined according to the number of the entry lanes corresponding to the Mth variable guide lane, and M and i are both natural numbers not less than 1; Determine the Mith number of vehicles entering the Mith entering lane within the preset time period; if the Mith number of vehicles entering the Mith lane is greater than the Mith error threshold, determine the Mith entering direction information as the guidance information of the Mth variable guiding lane within the preset time period; Wherein, determining the Mith entering direction information in the Mith entering lane information according to the Mith entering lane information corresponding to the Mth variable-guiding lane includes: According to the vehicle position information in the Mith entry lane information, the geographical location of the Mith entry lane is obtained; according to the positional relationship between the geographical location of the Mth variable guide lane and the geographical location of the Mith entry lane, the Mith entry direction information is determined.

2. The variable guide lane information extraction method according to claim 1, characterized in that: The step of determining a variable guide lane in the lane according to the driving trajectory point information includes: Analyze the driving trajectory point information corresponding to the plurality of lanes respectively, and obtain the Nth driving trajectory point information corresponding to the Nth lane, where N is determined according to the number of lanes of the road at the intersection, and N is a natural number not less than 1; If the Nth driving trajectory point information includes a plurality of the entering lane information, determining the number of vehicles included in the Nth driving trajectory point information; If the number of vehicles included in the Nth driving trajectory point information is greater than the Nth error threshold, the Nth lane is determined to be a variable guide lane.

3. The variable guide lane information extraction method according to claim 2 is characterized in that: The determining of the variable guide lane in the lane according to the driving trajectory point information further includes: The Nth error threshold is set for the Nth lane according to the number of Nth illegal vehicles that have passed through the Nth lane, wherein the Nth number of illegal vehicles is the average number of illegal vehicles that pass through the Nth lane per day obtained based on the total number of illegal vehicles that pass through the Nth lane in multiple years or multiple months.

4. The variable guide lane information extraction method according to claim 1, characterized in that: If the number of Mi-th entering vehicles is greater than the Mi-th error threshold, determining the Mi-th entering direction information as the guidance information of the M-th variable guiding lane in the preset time period also includes: The Mith error threshold is set for the Mith entering lane according to the Mith number of illegal vehicles that pass through the Mith entering lane corresponding to the preset time period, wherein the Mith number of illegal vehicles is the average number of illegal vehicles passing through the Mith entering lane per hour obtained based on the total number of illegal vehicles that pass through the Nth lane in multiple years or multiple months.

5. A map making and updating method, characterized in that: include: Obtain vehicle trajectory point data at each intersection road in a predetermined period and a predetermined area to obtain the vehicle driving trajectory; Matching the plurality of vehicle driving trajectories with the lanes of the road at the intersection to obtain driving trajectory point information corresponding to each lane in the period; Determining a variable guide lane in the lane according to the driving trajectory point information; Analyzing the driving trajectory point information corresponding to the variable-guiding lane to obtain the guidance information of the variable-guiding lane in each preset time period in the cycle, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable-guiding lane; Wherein, the analyzing the driving trajectory point information corresponding to the variable guiding lane to obtain the guiding information of the variable guiding lane in each preset time period includes: determining the Mith entering direction information in the Mith entering lane information according to the Mith entering lane information corresponding to the Mth variable guiding lane, wherein M is determined according to the number of the variable guiding lanes, i is determined according to the number of entering lanes corresponding to the Mth variable guiding lane, and M and i are both natural numbers not less than 1; determining the Mith number of vehicles entering the Mith entering lane in the preset time period; if the Mith number of vehicles entering the Mith entering lane is greater than the Mith error threshold, determining the Mith entering direction information as the guiding information of the Mth variable guiding lane in the preset time period; Wherein, determining the Mith entering direction information in the Mith entering lane information according to the Mith entering lane information corresponding to the Mth variable-guiding lane includes: According to the vehicle position information in the Mith entry lane information, the geographical location of the Mith entry lane is acquired; according to the positional relationship between the geographical location of the Mth variable guide lane and the geographical location of the Mith entry lane, the Mith entry direction information is determined; Create or update a map based on the navigation information.

6. A variable guide lane information extraction device, characterized in that: include: A module for matching the driving trajectories of multiple vehicles with the lanes of the intersection road in the map to obtain the driving trajectory point information corresponding to each lane; A module for determining a variable guide lane in the lane according to the driving trajectory point information; A module for analyzing the driving trajectory point information corresponding to the variable-guide lane to obtain the guidance information of the variable-guide lane in each preset time period, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable-guide lane, wherein the module for analyzing the driving trajectory point information corresponding to the variable-guide lane to obtain the guidance information of the variable-guide lane in each preset time period comprises: determining the Mith entry direction information in the Mith entry lane information according to the Mith entry lane information corresponding to the Mth variable-guide lane, wherein M is determined according to the number of the variable-guide lanes, i is determined according to the number of the entry lanes corresponding to the Mth variable-guide lane, and M, i are all natural numbers not less than 1; determining the Mith number of vehicles entering the Mith lane within the preset time period; if the Mith number of vehicles entering the Mith lane is greater than the Mith error threshold, determining the Mith entry direction information as the guidance information of the Mth variable guide lane during the preset time period; wherein, determining the Mith entry direction information in the Mith entry lane information according to the Mith entry lane information corresponding to the Mth variable guide lane comprises: acquiring the geographical location of the Mith entry lane according to the vehicle position information in the Mith entry lane information; determining the Mith entry direction information according to the positional relationship between the geographical location of the Mth variable guide lane and the geographical location of the Mith entry lane.

7. A map making and updating device, characterized in that: include: A module for obtaining vehicle trajectory point data at each intersection within a predetermined period and a predetermined area to obtain the vehicle driving trajectory; A module for matching the plurality of vehicle driving trajectories with the lanes of the road at the intersection, and obtaining driving trajectory point information corresponding to each lane in the period; A module for determining a variable guide lane in the lane according to the driving trajectory point information; A module for analyzing the driving trajectory point information corresponding to the variable-guide lane to obtain the guidance information of the variable-guide lane in each preset time period in the cycle, wherein the driving trajectory point information includes the entry lane information of the entry lane corresponding to the variable-guide lane, wherein the analyzing the driving trajectory point information corresponding to the variable-guide lane to obtain the guidance information of the variable-guide lane in each preset time period includes: determining the Mith entry direction information in the Mith entry lane information according to the Mith entry lane information corresponding to the Mth variable-guide lane, wherein M is determined according to the number of the variable-guide lanes. Determine, i is determined according to the number of entry lanes corresponding to the Mth variable guide lane, M, i are both natural numbers not less than 1; determine the Mith number of vehicles entering the Mith entry lane within the preset time period; if the Mith number of vehicles entering the Mith entry lane is greater than the Mith error threshold, determine the Mith entry direction information as the guidance information of the Mth variable guide lane in the preset time period; obtain the geographical location of the Mith entry lane according to the vehicle position information in the Mith entry lane information; determine the Mith entry direction information according to the positional relationship between the geographical location of the Mth variable guide lane and the geographical location of the Mith entry lane; A module for making or updating a map according to the guidance information.

8. A computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are operable to perform the method of any one of claims 1-4.

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