Electronic map processing method, device, and apparatus, and storage medium

Abstract

Embodiments of the present application disclose a kind of electronic map processing method, device, equipment and storage medium;The present embodiment can obtain road network information, road network information contains multiple road node information, multiple road information and the connection information of each road node and at least one road connection;With the road node between the turning road and the straight road having connection is determined as the bifurcation road root node;According to the target connection information of bifurcation road root node, find the termination node of the turning road corresponding to the target connection information;When identifying termination node is bifurcation road node, obtain the first direction parameter of the straight road corresponding to target connection information and the second direction parameter of corresponding turning road;According to the first direction parameter and the second direction parameter, generate the turning assignment of turning road, and load the turning assignment to electronic map.This scheme can improve the accuracy of guiding information of turning road in electronic map.

Description

Technical Field

[0001] This application relates to the field of computer technology, and specifically to a method, apparatus, device, and storage medium for processing electronic maps. Background Technology

[0002] Electronic maps provide navigation guidance based on actual road conditions, effectively directing travelers and greatly facilitating their journeys. However, electronic maps require map providers to have prior knowledge of the actual road conditions for various road scenarios, such as obtaining road scenario data from map databases and creating electronic maps based on this data. Currently, the "turning exit scenario" defined in map databases does not provide navigation prompts for turning road segments. This turning exit scenario refers to a situation where a vehicle exits a straight road by turning off the current straight road. To improve this, it is necessary to first assign values ​​to the turning roads corresponding to the "turning exit scenario" in the electronic map, thereby generating the directional information for the turning roads in the electronic map data.

[0003] When assigning values ​​to turning roads in electronic maps, the relevant technologies determine the turning road based on collected on-site road condition images, existing road shape data, and vehicle driving trajectories, and then assign values ​​to the turning road based on the determination results, thereby generating the turning road guidance information in the electronic map data.

[0004] In the process of researching and practicing existing technologies, the inventors of this application discovered that when judging and assigning values ​​to turning roads based on collected images of road conditions, existing road shape data, and vehicle driving trajectories, errors can easily occur when generating directional information for turning roads in electronic maps because vehicle driving trajectories are formed based on human driving habits, thus affecting the accuracy of directional information for turning roads in electronic maps. Summary of the Invention

[0005] This application provides a method, apparatus, device, and storage medium for processing electronic maps. These improvements can enhance the accuracy of generating directional information for turning roads in electronic maps.

[0006] This application provides a method for processing electronic maps, including:

[0007] Obtain road network information, which includes information on multiple road nodes, multiple road segments, and connection information of each road node to at least one road segment. The types of roads include turning roads and straight roads.

[0008] The road nodes that have a connection relationship with the turning road and the straight road are determined as the root nodes of the forking roads;

[0009] Based on the target connection information of the root node of the forked road, find the termination node of the turning road corresponding to the target connection information;

[0010] When the termination node is identified as a fork road node, the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the turning road are obtained.

[0011] The steering values ​​of the turning road are generated based on the first direction parameter and the second direction parameter, and the steering values ​​are loaded into the electronic map.

[0012] Accordingly, embodiments of this application provide an electronic map processing apparatus, including:

[0013] The first acquisition unit is used to acquire road network information, which includes multiple road node information, multiple road segment information, and connection information of each road node and at least one road segment. The types of roads include turning roads and straight roads.

[0014] A determining unit is used to determine road nodes that have a connection relationship with the turning road and the straight road as the root nodes of the forking road;

[0015] The search unit is used to search for the termination node of the turning road corresponding to the target connection information based on the target connection information of the root node of the branch road;

[0016] The second acquisition unit is used to acquire, when the termination node is identified as a fork road node, the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the turning road corresponding to the target connection information.

[0017] The generation unit is used to generate the steering assignment of the steering road based on the first direction parameter and the second direction parameter;

[0018] The loading unit is used to load the steering assignment into the electronic map.

[0019] In some embodiments, the determining unit includes:

[0020] A selection subunit is used to select a road node that has a connection relationship with the turning road from the plurality of road nodes as the first road node;

[0021] The acquisition subunit is used to acquire the first connection information corresponding to the first road node;

[0022] The determining subunit is configured to determine the first road node as the root node of a forking road if, based on the first connection information, all roads connected to the first road node include the turning road and the straight road.

[0023] The determining subunit is further configured to, if it is detected based on the first connection information that none of the roads connected to the first road node include the straight road, then execute the step of selecting a road node with a connection relationship to the turning road from the plurality of road nodes as the first road node, until the first road node is determined to be the root node of the forking road.

[0024] In some embodiments, the determining subunit is further specifically configured to: parse the first connection information to obtain a first connection relationship between the first road node and the turning road and the straight road, wherein the straight road includes a straight-in section and a straight-out section; when it is detected that the first connection relationship includes a connection with the straight-in road with the first road node as the terminal node, a connection with the straight-out road with the first road node as the starting node, and a connection with the turning road with the first road node as the starting node, then identify the road angle formed between the straight-in road and the straight-out road; when it is detected that the road angle formed between the straight-in road and the straight-out road meets a preset angle threshold, then determine that the first road node is the root node of the forking road.

[0025] In some embodiments, the lookup unit includes:

[0026] The acquisition subunit is used to acquire the target connection information of the root node of the branch road;

[0027] The search subunit is used to find the road node on the turning road corresponding to the target connection information that is directly or indirectly adjacent to the root node of the fork road as the second road node. The second road node is the road node on the turning road other than the root node of the fork road.

[0028] The first determining subunit is used to determine the connection relationship between the second road node and the road based on the connection information of the second road node;

[0029] The second determining subunit is used to determine the second road node as the termination node when it is identified that the second connection relationship includes the second road node as the terminal node and the turning road as the second road node and the turning road as the connecting node and the second road.

[0030] The second determining subunit is further configured to, when it is identified that the second connection relationship includes the second road node as a connection node connecting the two turning road segments contained in the turning road respectively, determine the second road node as an adjacent connection node, and perform the step of finding the road node directly or indirectly adjacent to the root node of the fork road on the turning road corresponding to the target connection information as the second road node, until the second road node is determined to be the termination node.

[0031] In some embodiments, the generation unit is further configured to: when the first direction parameter is detected to meet the preset first direction parameter threshold and the second direction parameter meets the preset second direction parameter threshold, generate a left turn value for the turning road between the root node of the fork road and the termination node; and when the first direction parameter is detected to meet the preset third direction parameter threshold and the second direction parameter meets the preset fourth direction parameter threshold, generate a right turn value for the turning road between the root node of the target road and the termination node.

[0032] In some embodiments, the generating unit is further configured to generate guidance information for the turning road based on the turning assignment;

[0033] The loading unit is also used to load the guidance information of the turning road into the electronic map.

[0034] In some embodiments, the generating unit includes:

[0035] An extraction subunit is used to extract the turning road sequence corresponding to the turning road between the root node of the forking road and the terminal node, wherein the turning road sequence includes at least one turning road segment.

[0036] A sub-unit is generated to mark the turning segments contained in the turning road sequence according to the turning assignment, so as to obtain the turning mark data of the turning road sequence;

[0037] The generation subunit is also used to generate guidance information for the turning road based on the turning mark data of the turning road sequence.

[0038] In some embodiments, the generating unit includes:

[0039] The acquisition subunit is used to acquire the turning road sequence corresponding to the turning road, so as to acquire the turning road segment contained in the turning road sequence;

[0040] The sub-unit is also used to obtain the steering angle between any two adjacent steering segments when it is detected that the steering sequence contains multiple steering segments;

[0041] The lookup subunit is used to look up a preset list of steering radian levels based on the steering angle to obtain the radian level corresponding to the steering angle.

[0042] A generation subunit is used to generate the guidance information of the turning road based on the turning assignment and the radian level corresponding to the turning road segment contained in the turning road;

[0043] The loading unit is also used to load the guidance information of the turning road into the electronic map.

[0044] In some embodiments, the apparatus further includes:

[0045] The third acquisition unit is used to take the straight road where the root node of the fork road is located as the first straight road, and the straight road where the termination node is located as the second straight road, and to acquire the positional relationship between the second straight road and the first straight road.

[0046] The generation unit is further configured to generate guidance information for the turning road corresponding to the target connection information based on the positional relationship and the turning assignment;

[0047] The loading unit is used to load the guidance information of the turning road into the electronic map.

[0048] Furthermore, this application also provides an electronic device, including a processor and a memory, wherein the memory stores an application program, and the processor is used to run the application program in the memory to implement the electronic map processing method provided in this application.

[0049] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a plurality of instructions adapted for loading by a processor to execute steps in the electronic map processing method provided in embodiments of this application.

[0050] Furthermore, embodiments of this application also provide a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the steps of any of the electronic map processing methods provided in embodiments of this application.

[0051] This application embodiment can acquire road network information, which includes multiple road node information, multiple road segment information, and connection information of each road node to at least one road segment. The road types include turning roads and straight roads. Road nodes that have connections with turning roads and straight roads are identified as root nodes of branch roads. Based on the target connection information of the root nodes of branch roads, the termination node of the turning road corresponding to the target connection information is found. When the termination node is identified as a branch road node, the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the corresponding turning road are acquired. The turning value of the turning road is generated based on the first direction parameter and the second direction parameter, and the turning value is loaded into the electronic map.

[0052] This embodiment selects the root node of the branch road connected to the turning road in the road network information and finds the terminal node opposite to the root node of the branch road. This determines the second direction parameter of the turning road between the root node and the terminal node of the branch road, and the first direction parameter of the straight road connected to the root node of the branch road. Based on the first and second direction parameters, the turning direction of the turning road is determined, and the turning value of the turning road is determined. The data corresponding to the turning value is then loaded into the electronic map. By using the above method, the turning value of the turning road is generated based on the road nodes and roads in the road network information and loaded into the electronic map, avoiding errors and improving the accuracy of the guidance information of the turning road in the electronic map. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1a This is a schematic diagram of a scenario for an electronic map processing system provided in an embodiment of this application;

[0055] Figure 1b This is a first schematic diagram of a turning road in a road network provided in an embodiment of this application;

[0056] Figure 1c This is a second schematic diagram of a turning road in a road network provided in an embodiment of this application;

[0057] Figure 2a This is a flowchart of the first step of the electronic map processing method provided in the embodiments of this application;

[0058] Figure 2bThis is a schematic diagram illustrating the relationship between the straight-in entry section and the straight-out exit section provided in the embodiments of this application;

[0059] Figure 3 This is a flowchart of the second step of the electronic map processing method provided in the embodiments of this application;

[0060] Figure 4 This is a flowchart illustrating the electronic map processing method provided in an embodiment of this application;

[0061] Figure 5 This is a schematic diagram of the structure of the electronic map processing device provided in the embodiments of this application;

[0062] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0063] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0064] This application provides a method, apparatus, device, and storage medium for processing electronic maps. The electronic map processing apparatus can be integrated into an electronic device, which may be a server or a terminal, etc.

[0065] The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery network (CDN) acceleration services, and big data and artificial intelligence platforms. The terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, etc., but is not limited to these.

[0066] For example, see Figure 1a , Figure 1aThis is a schematic diagram of a scenario for an electronic map processing system provided in an embodiment of this application. This embodiment uses the integration of an electronic map processing device into an electronic device as an example. In this scenario, there is a cloud database 10 and an electronic device 20. If the electronic device is a server, then there is a data interaction relationship between the cloud database and the server. Specifically, data interaction can be achieved by establishing a data interaction channel or communication connection between the cloud database and the server. This data interaction can be unidirectional or bidirectional data transmission.

[0067] The cloud database 10 can be a map cloud database or a database storing map data. The map data contained in this database includes geographic information data from around the world. This geographic information data can be generated based on geographic information from various locations. This geographic information is not limited to, but includes, mountain information, water system network information, and road network information. Taking road network information as an example, the road network is not limited to, highway networks, urban arterial road networks, and ordinary lane weaving networks. This road network is composed of multiple roads and intersections between different roads. In the road network of this embodiment, each road can be composed of multiple identical or different road segments. Each road segment can be defined as a road segment or a link, and the intersections between different roads or different road segments can be defined as road nodes or intersection nodes. These road nodes or intersection nodes are the connection points between different road segments or different roads. Furthermore, road network information is generated based on the roads and road nodes defined in the road network and stored in the map data. Specifically, when generating road network information, the road data in the road network can be converted using a geographic data exchange specification to obtain the corresponding road geographic data information, thereby forming road network information. The geographic data exchange specification can be: Relational Database Form (RDF), Geographical Data File (GDF), etc.

[0068] For example, in map data corresponding to Relational Database Formal (RDF) data format, the data form of a turning road defined using this RDF data format is: INTERSECTION_CATEGORY=2, meaning this data is the data of the turning road after conversion. This turning road has various scenarios in the road network, such as scenarios where the turning road is used for left or right turns to switch to the straight main lane, or scenarios where the turning road is used for left or right turns to make a U-turn to switch to the straight main lane, etc. See the following examples for details. Figure 1b , Figure 1c The description.

[0069] See Figure 1b , Figure 1b This is a first schematic diagram of a turning road in a road network provided in an embodiment of this application, as shown below. Figure 1bAs shown, the first straight road 11 and the second straight road 13 are staggered or intersecting. The first straight road 11 includes a first straight entry road 111 and a first straight exit road 112. The root node 21 of the branch road is connected to both the first straight entry road 111 and the first straight exit road 112. The root node 21 of the branch road is connected to the first straight entry road 111 as its terminal node and to the first straight exit road 112 as its starting node; it is also connected to the turning road 12 as its starting node. Furthermore, the turning road 12 is connected to the second straight road 13 via its terminal node 22. It should be noted that... Figure 1b The road turning in the middle is a right-turn road, which is understandable. However, for other scenarios, left-turn roads are also... Figure 1b The right-turn road 12 is symmetrical or turns in the opposite direction, but this application does not provide an illustration of this.

[0070] Figure 1c This is a second schematic diagram of a turning road in a road network provided in this application embodiment. The first straight road 31 and the second straight road 33 are parallel in position, and their travel directions are opposite. The first straight road 31 includes a first straight entry road 311 and a first straight exit road 312. The root node 41 of the branch road is connected to both the first straight entry road 311 and the first straight exit road 312, with the branch road root node 41 serving as both the terminal node and the starting node. It is also connected to the turning road 32. Furthermore, the turning road 32 is connected to the second straight road 33 via its terminal node 42. The above is merely an exemplary case of a turning road in a road network; the turning roads in this application are not limited to the above description. Figure 1c Road conditions that are similar to or comparable to those described above are still within the scope of this application.

[0071] By using the aforementioned data format, the roads in the road network are converted or defined to obtain road geographic data in the corresponding electronic map data format. After obtaining the road geographic data in the corresponding electronic map data format, road network information is generated based on the road geographic data in the electronic map data format and stored in the database.

[0072] The server (electronic device 20) can obtain road network information from the map database. The road network information includes information on multiple road nodes, multiple road segments, and connection information between each road node and at least one road segment. The road types include turning roads and straight roads. Road nodes that have connections with turning roads and straight roads are identified as root nodes of branch roads. Based on the target connection information of the root nodes of branch roads, the terminal node of the turning road corresponding to the target connection information is found. When the terminal node is identified as a branch road node, the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the corresponding turning road are obtained. The turning value of the turning road is generated based on the first direction parameter and the second direction parameter, and the turning value is loaded into the electronic map.

[0073] It should be noted that, Figure 1a The schematic diagram of the electronic map processing system shown is merely an example. The electronic map processing system and scenario described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation on the technical solutions provided in this application. As those skilled in the art will know, with the evolution of electronic map processing systems and the emergence of new business scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0074] The following sections provide detailed descriptions of each example. It should be noted that the order in which the embodiments are described is not intended to limit the preferred order of the embodiments.

[0075] This embodiment will be described from the perspective of an electronic map processing device, which can be integrated into an electronic device, such as a server or a terminal; wherein the terminal can include tablet computers, laptops, personal computers (PCs), wearable devices, virtual reality devices, and other smart devices.

[0076] This application uses the example of a data processing method executed by an electronic device to illustrate the embodiments.

[0077] like Figure 2a As shown, Figure 2a The present application provides a flowchart of an electronic map processing method. When the processor on the terminal executes the program corresponding to this data processing method, the specific process of the electronic map processing method is as follows:

[0078] 210. Obtain road network information.

[0079] Specifically, the road network information includes multiple road node information, multiple road segment information, and connection information between each road node and at least one road segment; the road types include turning roads and straight roads. Each road node information corresponds to one road node, and each road segment information corresponds to one road segment. This road network is a network system composed of multiple identical or different roads interconnected and interwoven into a mesh distribution. It can be presented as a road architecture diagram, reflecting the road layout structure. This road network can be a highway network, an urban road network, etc. The road network information can include the architecture, attributes, and topological relationships of the road network or roads, reflecting the positional relationships between various roads and the intersection methods between roads with intersection relationships. In the road network of this embodiment, each road can be composed of multiple identical or different road segments. Each road segment can be defined as a road or road segment, and the intersection of different roads or different road segments can be defined as a road node or intersection node, which is the connection point between different road segments or different roads.

[0080] In some implementations, road network information can be obtained from a map database to determine multiple road nodes, road segments, and the connection relationships between each road node and at least one road segment within the road network. This road network information can be obtained by converting the data corresponding to the road network using geographic data exchange specifications to obtain road geographic data conforming to electronic map data format, i.e., road network information, which is then stored in a database. This embodiment obtains road network information to understand the road network information of a target location or various locations.

[0081] It's important to clarify that the straight-ahead road can be a straight lane, which in reality may not be perfectly straight. It primarily refers to the lane path along which vehicles travel. A turning road, on the other hand, typically refers to the road used to change direction when transitioning from one main straight lane to another. Therefore, in a road network, the change of traffic flow between two different routes requires the use of turning roads. In other words, in the road structure, a turning road connects two different straight-ahead roads; this turning road is understood to be the path that exits the straight-ahead road.

[0082] In this embodiment, a road may consist of multiple road segments of different or identical shapes. The connection points between road segments are called road nodes. A road node may also be an intersection where different road segments meet. It is understood that an intersection connects multiple road segments. The connection information between road nodes and at least one road segment contained in the road network information reflects the type of road node and the road it connects to.

[0083] 220. Road nodes that have connections with turning roads and straight roads are identified as the root nodes of the branch roads.

[0084] In this embodiment, the main task is to identify turning roads in the road network, generate turning values ​​for those turning roads in the road network, and then generate guidance information, which is loaded into the electronic map for subsequent navigation guidance.

[0085] Since the road network contains many road nodes, and each road node is connected to a road or road segment with a corresponding function or purpose, in this embodiment of the application, since turning roads and straight roads are connected through forking road nodes, in order to determine the turning value corresponding to the turning road in the road network, it is necessary to first determine the root node of the forking road in the road node.

[0086] In some implementations, step 220 includes the following steps:

[0087] (1) Select the road node that has a connection relationship with the turning road from multiple road nodes as the first road node;

[0088] (2) Obtain the first connection information corresponding to the first road node;

[0089] (3) If, based on the first connection information, it is detected that all roads connected to the first road node include turning roads and straight roads, then the first road node is determined to be the root node of the forking road;

[0090] (4) If, based on the first connection information, it is detected that none of the roads connected to the first road node are straight roads, then the step of selecting a road node that has a connection relationship with the turning road from multiple road nodes as the first road node is executed until the first road node is determined to be the root node of the fork road.

[0091] First, road nodes connected to turning roads are selected from multiple road nodes as the first road node. This selection can be achieved through traversal, such as searching the road network for turning roads and obtaining the road nodes connected to them. During traversal, typically, traversal is performed on untraversed turning roads—those for which no turning assignments or guidance information have been generated—to accelerate the computational efficiency of turning road traversal. Alternatively, this can be done by traversing road nodes, such as traversing unidentified road nodes and selecting those connected to turning roads as the first road node. These methods initially identify road nodes connected to turning roads as the first road nodes for further filtering or generating further data.

[0092] After selecting a first road node that is connected to the turning road, the first connection information of the first road node is obtained. This first connection information is the connection information between the first road node and at least one road segment. The connection relationship between the first road node and the road is obtained based on this first connection information.

[0093] If the first road node is identified or detected by the first connection information as containing both turning roads and straight roads, then the first road node is determined to be a branch road root node. If the first road node is identified or detected by the first connection information as not containing straight roads, then the road node may not typically be a branch road root node, but rather a connection node between two road segments. In this case, the next first road node is traversed, and its first connection information is used to identify or detect whether it is a branch road root node. This process continues until all first road nodes have been traversed, all branch road root nodes have been selected, or, when the root of the branch road is reached, subsequent steps are performed to generate the turning values ​​for turning roads before traversing the next first road node. This is not limited here.

[0094] In some implementations, the step "(3) if all roads connected to the first road node are detected to include turning roads and straight roads according to the first connection information, then the first road node is determined to be the root node of the forking road" may include:

[0095] (3.1) Parse the first connection information to obtain the first connection relationship between the first road node and the turning road and the straight road, wherein the straight road includes the straight entry section and the straight exit section;

[0096] (3.2) When the first connection relationship is detected, including the connection between the first road node as the end node and the straight-in road, the connection between the first road node as the start node and the straight-out road, and the connection between the first road node as the start node and the turning road, the road angle formed between the straight-in road and the straight-out road is identified.

[0097] (3.3) When the road angle between the straight-entry road and the straight-exit road is detected to meet the preset angle threshold, the first road node is determined to be the root node of the fork road.

[0098] It should be noted that a road node can serve as the start or end node of a road segment, or it can serve as both the start and end node between different road segments. For example, a road node can be the end node of one road segment and the start node of another. The end node indicates the end of a road segment, while the start node indicates the beginning of a road segment. Typically, a road consists of multiple segments, and adjacent segments are connected by road nodes. In other words, one road segment uses a road node as its end node and simultaneously uses that end node as the start node of another road segment, thus connecting the two adjacent segments.

[0099] In this embodiment, the straight-ahead road includes a straight-in section and a straight-out section, which are connected by the same road node. For example, if a first road node is used as the terminal node to connect with the straight-in section, and also as the starting node to connect with the straight-out section and the turning road, then the first node is located at the intersection of the forking roads. It should be noted that the turning road serves the function of turning. When determining the turning road, the turning road is determined relative to its positional relationship with the straight-ahead road. If the two road segments with the first road node as the starting node are symmetrical, then the turning function of the turning road cannot be reflected, that is, it is impossible to determine which of the two road segments with the first road node as the starting node has a turning function.

[0100] In this embodiment, a straight-entry road and a straight-exit road can only be considered a straight road if they are a pair of similar road segments. Therefore, it is necessary to determine the road angles of the straight-entry road and the straight-exit road within the straight road, and then use these road angles to determine whether the straight-entry road and the straight-exit road are similar road segments. For example, if both the road angles of the straight-entry road and the straight-exit road are within a preset angle threshold range, then the straight-entry road and the straight-exit road are considered similar. Since the road angles of the straight-entry road and the straight-exit road are calculated in the same way, this embodiment uses the calculation of the road angle of the straight-entry road as an example.

[0101] See Figure 2b Let the root node of the branching road be node1, and the coordinates of node1 be... Let node2 be the starting node for those going straight into the road segment, and the coordinates of node2 be... Record the coordinates of the final node of the straight exit section. Then, the vector is the one that enters the road straight ahead. and the straight exit segment as the vector The calculation method is as follows:

[0102] ,

[0103]

[0104] Then, the numerator is calculated using the formula for the angle between two vectors. and denominator :

[0105] ,

[0106] ;

[0107] Then, the following calculations were performed: ;

[0108] Finally, the road angle is determined using inverse cosine. :

[0109] The road angle formed between the straight-in approach road and the straight-out exit road. The road angle is compared with a preset angle threshold. In this embodiment, the preset road angle threshold is set to be within 15 degrees. If so, then the first road node is determined to be the root node of the branch road.

[0110] 230. Based on the target connection information of the root node of the forked road, find the termination node of the turning road corresponding to the target connection information.

[0111] After determining the root node of the fork road, the target connection information corresponding to the root node of the fork road is obtained. This target connection information is the connection information between the root node of the fork road and the straight road and the turning road. Based on this target connection information, it can be determined whether there is a connection relationship between the root node of the fork road and the turning road.

[0112] After identifying the turning road that is connected to the root node of the fork road, since the turning road starts from the root node of the fork road, it is necessary to find the ending node of the turning road. The ending node represents the end node of a road, that is, the end of a road composed of one or more road segments; in this embodiment, the ending node is the end node of the turning road.

[0113] Specifically, the termination node of the turning road corresponding to the target connection information in the road network is found. When the turning road contains only one turning segment, the road node adjacent to the root node of the branch road on the turning road is the termination node. If the turning road contains multiple turning segments, the road node at the end of the turning road is the termination node. On the turning road, there may be multiple adjacent connection nodes between the termination node and the root node of the branch road.

[0114] In some implementations, step 230 specifically includes the following steps:

[0115] (1) Obtain the target connection information of the root node of the branch road;

[0116] (2) Find the road node that is directly or indirectly adjacent to the root node of the fork road on the turning road corresponding to the target connection information as the second road node. The second road node is the road node on the turning road other than the root node of the fork road.

[0117] (3) Determine the connection relationship between the second road node and the road based on the connection information of the second road node;

[0118] (4) When it is identified that the second connection relationship includes the second road node as the terminal node and the turning road, and the turning road is connected to the second road as the connecting node, the second road node is determined as the terminal node;

[0119] (5) When it is identified that the second connection relationship includes the second road node as the connection node and the two turning road segments contained in the turning road respectively, the second road node is determined as the adjacent connection node, and the step of finding the road node directly or indirectly adjacent to the root node of the fork road on the turning road corresponding to the target connection information is executed until the second road node is determined as the termination node.

[0120] In (5), "the step of finding the road node directly or indirectly adjacent to the root node of the fork road on the turning road corresponding to the target connection information as the second road node, until the second road node is determined to be the termination node" may include the following:

[0121] After determining that the second road node is an adjacent connecting node, another road node on the turning road that is adjacent to the adjacent connecting node is obtained as the second road node.

[0122] Obtain the second connection information corresponding to the second road node and the road from the connection information, so as to identify the second connection relationship between the second road node and the road based on the second connection information;

[0123] When it is identified that the second connection relationship includes a connection between the second road node as the terminal node and a turning road, and a turning road is connected to the second straight road with the second road node as the connecting node, the second road node is determined to be the terminal node.

[0124] It should be noted that when there are multiple road nodes between the root node and the termination node of a turning road, these multiple road nodes are considered adjacent connecting nodes. These adjacent connecting nodes are road nodes directly or indirectly adjacent to the root node of the turning road, and are used to connect any two adjacent turning segments within the turning road. When searching for the termination node of a turning road, the process involves sequentially searching for road nodes directly or indirectly adjacent to the root node of the turning road as the second road node, until the second road node is determined to be the termination node.

[0125] Furthermore, after locating the terminus of a turning road, the road attributes of the road where the terminus is located can be identified to determine whether the road is a main road, thereby determining whether the terminus is connected to other main roads. The specific implementation is as follows:

[0126] Obtain the road attribute information corresponding to the second road, so as to determine the connection relationship between the second road and other roads based on the road attribute information;

[0127] When it is determined from the connection information that the second straight road has a connection relationship with other main roads, and the road attribute of the second straight road is determined to be a straight road, then the termination node is determined to be the branching main road node.

[0128] By using the above methods, the attributes of the second road to which the turning road terminates can be confirmed, thus determining the connection relationship between this second road and other roads, and consequently, whether this second road is a non-motorized vehicle lane or a roundabout lane. It is understandable that when the second road connected to the turning road is a non-motorized vehicle lane or a roundabout lane, this second road has no connection relationship with other lanes. If directional information corresponding to this turning road is generated, it will mislead drivers into entering lanes that are not normally navigable; that is, the directional information corresponding to this turning road is incorrect guidance information.

[0129] 240. When the terminal node is identified as a fork road node, obtain the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the turning road.

[0130] Specifically, when the termination node is identified as a fork in the main road, it means that after entering the turning road from the fork in the straight road, one can enter other main lanes from the turning road. Therefore, it is necessary to generate guidance information for the turning road.

[0131] In this embodiment, to generate the guidance information for the turning road, it is necessary to first determine the direction parameters of the straight road and the turning road, thereby determining the turning assignment and generating the guidance information for the turning road. First, it is necessary to obtain the direction parameters of the straight road corresponding to the target connection information and the direction parameters of the corresponding turning road.

[0132] In this embodiment, the direction parameter can be an angle, direction, latitude and longitude, etc., and is not limited here. When obtaining the direction parameter, the direction of the straight road can be detected by an electronic compass algorithm or a trained model. It should be noted that the direction parameter of the straight road corresponding to the target connection information is relative to the entire road network, thereby obtaining the first direction parameter of the straight road in the entire road network, and obtaining the second direction parameter of the turning road in the entire road network. In other embodiments, a specific algorithm can also be used to use a certain direction as a reference direction to obtain the first direction parameter of the straight road and the second direction parameter of the turning road according to the reference direction, so as to determine the positional relationship between the straight road and the corresponding turning road corresponding to the target connection information. Alternatively, the coordinates of the first node of the root node of the branching road can be obtained from the road network, and the coordinates of the second node corresponding to the starting node of the straight-in segment ending at the root node of the branching road can be confirmed. Based on these first and second node coordinates, the first direction parameter of the straight-in segment in the straight road corresponding to the target connection information can be obtained. Furthermore, the coordinates of the third node of the ending node on the turning road can be obtained, and the second direction parameter of the turning road corresponding to the target connection information can be obtained based on these first and third node coordinates. The above is an example of obtaining direction parameters, and this embodiment does not limit this process.

[0133] 250. Generate steering values ​​for the turning road based on the first and second direction parameters, and load the steering values ​​into the electronic map.

[0134] In this embodiment, after obtaining the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the corresponding turning road, the turning value of the turning road corresponding to the target connection information can be determined according to a preset direction parameter threshold. This turning value identifies the turning road's direction relative to the straight road, and includes left-turn and right-turn values. After obtaining the turning value, it can be loaded into an electronic map.

[0135] In some implementations, the step of generating steering values ​​for the steering path based on the first direction parameter and the second direction parameter specifically includes:

[0136] If the first direction parameter meets the preset first direction parameter threshold and the second direction parameter meets the preset second direction parameter threshold, then the turning value of the turning road between the root node and the termination node of the branch road is assigned to a left turn value.

[0137] If the first direction parameter meets the preset third direction parameter threshold and the second direction parameter meets the preset fourth direction parameter threshold, then the turning value of the turning road between the root node and the termination node of the target road is assigned as a right turn value.

[0138] In this embodiment, the first direction parameter threshold and the second direction parameter threshold are used to determine the left turn threshold conditions of the turning road relative to the straight road (or the straight-entry road with the root node of the fork road as the end node in the straight road), and the third direction parameter threshold and the fourth direction parameter threshold are used to determine the right turn threshold conditions of the turning road relative to the straight road (or the straight-entry road with the root node of the fork road as the end node in the straight road). For example, taking angle as a direction parameter, the corresponding angle range of the first direction parameter threshold is set to [10, 80], and the corresponding angle range of the second direction parameter threshold is [15, 160]. When the angle of the straight road (or the straight road entering the straight road with the root node of the fork road as the terminal node) meets [10, 80], and the angle of the turning road meets [15, 160], then the turning value of the turning road between the root node and the terminal node of the fork road is determined to be a left turn value; and the corresponding angle range of the third direction parameter threshold is set to [280, 350], and the corresponding angle range of the fourth direction parameter threshold is set to [200, 335]. When the angle of the straight road (or the straight road entering the straight road with the root node of the fork road as the terminal node) meets [280, 350], and the angle of the turning road meets [200, 335], then the turning value of the turning road between the root node and the terminal node of the fork road is determined to be a right turn value.

[0139] The above implementation method obtains the turning value of the turning road, which can be represented in the data format as "Link_Left" and "Link_Right" to determine the turning or driving direction of the turning road in the straight section of the relative straight road in the electronic map.

[0140] In some implementations, the steering assignment is loaded into the electronic map, specifically including the following steps:

[0141] (1) Generate steering guidance information for the steering path based on the steering assignment;

[0142] (2) Load the turning road guidance information into the electronic map.

[0143] Specifically, after obtaining the steering assignment value of the turning road corresponding to the target connection information, the turning road needs to be calibrated based on this steering assignment value, and then guidance information for the turning road is generated. It should be noted that this guidance information is data in the electronic map data format corresponding to the turning road. Furthermore, the guidance information of the turning road is loaded into the electronic map, so that the navigation function of the electronic map can navigate and guide vehicles that need to travel to the turning road based on this guidance information.

[0144] Furthermore, based on the steering assignment, guidance information for the steering path is generated, specifically including the following steps:

[0145] (1.1) Extract the turning road sequence corresponding to the turning road between the root node and the terminal node of the forking road. The turning road sequence includes at least one turning road segment.

[0146] (1.2) Mark the turning segments contained in the turning road sequence according to the turning assignment to obtain the turning mark data of the turning road sequence;

[0147] (1.3) Generate steering information for the steering road based on the steering mark data of the steering road sequence.

[0148] In this embodiment, the turning road sequence includes one or more turning road segments. When it includes multiple turning road segments, the turning road is formed by connecting multiple turning road segments.

[0149] After obtaining the steering assignment, the steering road segments contained in the steering road sequence corresponding to the target connection information are obtained, and the steering road segments in the steering sequence are marked to obtain the steering mark data corresponding to each steering road segment. The steering mark data is in the form of data that identifies the steering of the corresponding steering road segment, that is, the steering of the steering road segment is presented in the form of steering mark data. Then, the steering mark data of the steering road sequence is generated based on the steering mark data corresponding to each steering road segment, thereby generating the guidance information of the steering road segment.

[0150] In yet another embodiment, the present application further includes:

[0151] Obtain the turning road sequence corresponding to the turning road, and then obtain the turning road segments contained in the turning road sequence;

[0152] When a turning sequence is detected to contain multiple turning segments, the turning angle between any two adjacent turning segments is obtained.

[0153] The system searches the preset list of steering radian levels based on the steering angle to obtain the corresponding radian level.

[0154] Furthermore, the process will involve loading the values ​​onto the electronic map, specifically including:

[0155] The steering information is generated based on the steering assignment and the radii level corresponding to the steering segments contained in the steering path.

[0156] The directional information for turning roads is loaded into the electronic map.

[0157] In this implementation, when the sequence of turning roads corresponding to the target connection information is detected to contain multiple turning segments, since the shape of each turning segment may be different, the turning angle between any two connecting turning segments is calculated. This turning angle can be the angle of offset or adjustment required for the vehicle to travel from one turning segment to another. After calculating the turning angle between all adjacent turning segments on the turning road, the corresponding radian level is looked up according to a preset list of turning radian levels. This radian level reflects the degree of abruptness of the turn between the corresponding adjacent turning segments. The radian level can be a first-level radian, a second-level radian, a third-level radian, etc., or a high-level radian, a medium-level radian, a low-level radian, etc. Furthermore, the guidance information of the turning road is generated based on the turning assignment and the radian level corresponding to each pair of adjacent turning segments in the turning road.

[0158] For example, when a turning road sequence contains two turning segments, the guidance information for that turning road is generated based on the radian level corresponding to the turning angle between the two turning segments and the turning assignment. Specifically, when the radian level is high radian and the turning assignment is a right turn value, the generated guidance information can be a high-radian right turn. In this case, the message in the electronic map navigation function could be "Please prepare to turn right. Note that the right turn road is a high-radian right turn road. Please be careful." There are no limitations here.

[0159] For example, when generating guidance information, this implementation can also determine the number of guidance information units in the guidance information based on the number of turning segments contained in the turning road sequence. Specifically, when the turning road sequence contains multiple turning segments, the turning angles corresponding to all turning segments in the turning road sequence are obtained, and the radian level corresponding to each turning angle is found. Based on each turning radian and turning assignment, a corresponding guidance information unit is generated, and the guidance information for the turning road is generated based on all guidance information units.

[0160] Then, the guidance information of the turning road is loaded into the electronic map, so that the electronic map contains the guidance information data of the turning road, so as to make the guidance message of the turning road in the navigation function of the electronic map.

[0161] In another embodiment, the present application further includes:

[0162] The straight road where the root node of the fork road is located is designated as the first straight road, and the straight road where the terminal node is located is designated as the second straight road. The positional relationship between the second straight road and the first straight road is obtained.

[0163] Further steps will involve assigning values ​​to the electronic map, including:

[0164] Based on the positional relationship and steering assignment, generate the steering road guidance information corresponding to the target connection information;

[0165] The directional information for turning roads is loaded into the electronic map.

[0166] It should be noted that the first straight road, the second straight road, and the turning road coexist. The turning road is connected to the first straight road through the root node of the fork road, and it is also connected to the second straight road through the termination node.

[0167] Since the travel directions of the first and second straight roads are usually different, if their travel directions are opposite, then the first and second straight roads are parallel to each other. Conversely, if the travel direction of the second straight road is left or right relative to the travel direction of the first straight road, then the first and second straight roads are intersecting. Based on this positional relationship and the steering assignment, corresponding steering guidance information is generated. For example, if the first and second straight roads are parallel and the steering assignment is a left turn, the corresponding steering guidance information could be a left turn / U-turn. Similarly, if the first and second straight roads are intersecting and the steering assignment is a right turn, the corresponding steering guidance information could be a right turn into another main lane. The above description of the positional relationship and steering assignment for generating guidance information is merely an example; this embodiment may also include other similar or related examples, which are also within the scope of this embodiment.

[0168] Furthermore, the guidance information of the turning road is loaded into the electronic map so that the electronic map can play the navigation message of the corresponding turning road in the road network based on the guidance information.

[0169] It is worth noting that steps 210-250 in this embodiment determine the turning value of a certain turning road in the road network, thereby generating the guidance information of that turning road. However, for other turning roads in the road network, the root node of the branch road corresponding to the turning road and the terminal node corresponding to the turning road are obtained. When the terminal node is a branch road node, the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the corresponding turning road are obtained to determine the turning value of the corresponding turning road, thereby generating the corresponding guidance information and loading it into the electronic map. This embodiment of the application generates guidance information for all target turning roads in the road network that meet the requirements by traversing the network and loading it into the electronic map. It should be noted that before loading the guidance information into the electronic map, guidance information can be generated for all target turning roads in the road network that meet the requirements first, and then the guidance information corresponding to all target turning roads that meet the requirements can be loaded into the electronic map; alternatively, when generating the guidance information of a target turning road that meets the requirements, the guidance information can be loaded into the electronic map first, and then the guidance information of other target turning roads that meet the requirements can be generated and loaded into the electronic map; no limitation is made here.

[0170] This application embodiment generates guidance information for the target turning road that meets the requirements by using the road network information, which includes multiple road node information, multiple road segment information, and connection information between each road node and the road. This eliminates the need for on-site image data and trajectory data from actual surveys of the corresponding turning road, avoids dependence on real-world scene data of the turning road, and saves manpower while improving the efficiency of electronic map data generation.

[0171] As can be seen from the above, the embodiments of this application can obtain road network information, which includes multiple road node information, multiple road segment information, and connection information of each road node and at least one road segment. The road types include turning roads and straight roads. Road nodes that have connection relationships with turning roads and straight roads are determined as root nodes of branch roads. Based on the target connection information of the root nodes of branch roads, the termination node of the turning road corresponding to the target connection information is found. When the termination node is identified as a branch road node, the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the corresponding turning road are obtained. The turning value of the turning road is generated based on the first direction parameter and the second direction parameter, and the turning value is loaded into the electronic map.

[0172] Furthermore, by selecting the root node of the forked road connected to the turning road in the road network information and finding the terminal node opposite to the root node of the forked road, the second direction parameter of the turning road between the root node and the terminal node of the forked road is determined, and the first direction parameter of the straight road connected to the root node of the forked road is determined. Based on the first direction parameter and the second direction parameter, the turning of the turning road is determined, and the turning value of the turning road is determined. The data corresponding to the turning value is then loaded into the electronic map. In this way, the turning value of the turning road is generated based on the road nodes and roads in the road network information and loaded into the electronic map, avoiding errors and improving the accuracy of the guidance information of the turning road in the electronic map.

[0173] Based on the method described in the above embodiments, the following examples will provide further detailed explanations.

[0174] In this embodiment, the processing device for the electronic map will be specifically integrated into an electronic device as an example for explanation.

[0175] like Figure 3 As shown, an electronic map processing method is described below, with the specific process as follows:

[0176] 301. Obtain road network information.

[0177] The road network is a network of interconnected and interwoven roads, consisting of multiple identical or different roads. In this embodiment, road network information can be obtained from a map database to determine the multiple road nodes, multiple road segments, and the connection relationship between each road node and at least one road segment in the road network.

[0178] In this embodiment, a road, also called a link, consists of a series of points to simulate a real-world road. A road can be represented by one or more links. Road nodes are the start and end points of a road, typically connecting multiple roads. Road shape points are points within a road that are not the start or end points, used to control the shape of the road. Road attributes describe basic road information, such as road type, road grade, number of lanes, etc. Traffic flow direction refers to the direction in which vehicles are allowed to travel on the road. The road network information in this embodiment is not limited to the road-related information mentioned above.

[0179] In this embodiment, the road network information can be data obtained by converting map data through a specific electronic map data format, such as using Relational Database Formal (RDF) to convert map data to obtain road network information. It should be noted that electronic maps obtained from different data format conversions differ in usage. For example, in electronic map data obtained after conversion to Relational Database Formal (RDF), the navigation function does not need to announce turns when exiting a road; the turning road is defined in the corresponding data format: Manoeuvre(INTERSECTION_CATEGORY=2). This embodiment differs in that it requires announcing turns in the electronic map. Therefore, by acquiring road network information, turning roads are identified based on the road network information to generate guidance information for the identified turning roads, thereby generating an electronic map. When this electronic map is used for navigation, it will announce the corresponding turning road. For example, when a vehicle enters another straight road from a straight road, it needs to make a left or right turn in advance using a turning road; the navigation function will provide a prompt before or near the root node of the fork in the road.

[0180] 302. Road nodes that have connections with turning roads and straight roads are identified as the root nodes of the branch roads.

[0181] In this embodiment, a depth-first search algorithm can be used to search and identify road nodes in the road network. This algorithm is used to traverse or search a tree or graph, searching the tree branches as deeply as possible. These branches are "V"-shaped forks or distributions that appear after a certain node. In a road network, the "V" branch can be understood as a branch of a forked road node. When all edges corresponding to the "V" of a road node have been explored, the search backtracks to the starting node of the edge that discovered the "V" of the road node. This backtracking process continues until all nodes reachable from the source node have been found. If there are still undiscovered nodes, one of them is selected as the source node, and the above process is repeated. The entire process is repeated until all nodes have been visited.

[0182] Furthermore, the embodiments of this application utilize a depth-first search algorithm combined with a stack. A stack is a linear list with restricted operations, belonging to a computer data structure, characterized by Last-In-First-Out (LIFO). Insertion and deletion operations are limited to the end of the list, called the top of the stack, and the other end is called the bottom of the stack. Inserting a new element into a stack is called pushing, placing the new element on top of the existing top element, making it the new top element. Deleting an element from a stack is called popping, removing the top element and making its adjacent element the new top element.

[0183] In this embodiment, a depth-first search algorithm is used to identify road nodes in the road network. The identification process is as follows: First, initialization is performed by putting any road node into a stack. Then, the first road node is taken out of the stack and it is checked whether the road node is the root node of a branch road. If the road node is the root node of a branch road, it is pushed onto the stack to find the adjacent nodes of the root node of the branch road. If the road node is not the root node of a branch road, the branch road root node is detected.

[0184] When detecting whether a road node is the root node of a forking road, the main steps are as follows: First, determine if the road node to be detected is a third-order point, i.e., whether there are three road segments connecting to the road node. Second, determine if there is a turning road segment within the road node to be detected, i.e., the turning road corresponding to the data format Manoeuvre(INTERSECTION_CATEGORY=2), and whether there are straight-in and straight-out exit segments. Third, confirm whether the road angles of the straight-in and straight-out exit segments are within a preset angle threshold range, such as [0, 15] in this embodiment. If the above conditions are met, the road node is determined to be the root node of a forking road.

[0185] 303. Based on the target connection information of the root node of the fork road, find the adjacent connection nodes that are directly or indirectly adjacent to the root node of the fork road on the turning road corresponding to the target connection information, until the termination node of the turning road corresponding to the target connection information is found.

[0186] After pushing the root node of the branch road onto the stack, the adjacent road nodes of the root node of the branch road are found. The process of finding the adjacent road nodes of the root node of the branch road is as follows: The root node of the branch road is retrieved from the stack. Based on the target connection information of the root node in the road network information, the connection relationship between the root node and the road is determined. The adjacent road nodes are then searched for. It is determined whether the adjacent road node is a second-order point, i.e., whether the link connected to the adjacent road node consists of two road segments. Furthermore, it is determined whether the two road segments connected to the adjacent road node are turning segments, i.e., turning segments corresponding to the data format Manoeuvre(INTERSECTION_CATEGORY=2). If the above conditions are met, the adjacent road node is determined to be an adjacent connecting node on the turning road where the root node of the branch road is located. It should be noted that adjacent connecting nodes are used to connect two adjacent turning segments contained in the turning road. The adjacent connecting node is pushed onto the stack, and the search continues for the road node indirectly adjacent to the root node of the branch road on the turning road, i.e., the next road node adjacent to the adjacent connecting node is found and pushed onto the stack.

[0187] Furthermore, if a road node that is directly or indirectly adjacent to the root node of the fork road is found on the turning road and is not a second-order point, and the road adjacent to the directly or indirectly adjacent road node is not limited to the turning road segment, that is, not limited to the turning road segment corresponding to the data format Manoeuvre(INTERSECTION_CATEGORY=2), then it is determined that the directly or indirectly adjacent road node does not meet the condition of the adjacent connection node. It is determined that the directly or indirectly adjacent road node is not an adjacent connection node on the turning road and is a termination node. The directly or indirectly adjacent road node is popped from the stack to obtain the termination node.

[0188] 304. Identify whether the termination node is a fork in the road.

[0189] After obtaining the termination node, it is determined whether the termination node is a fork in the road. The fork in the road is the last road node connected to the turning road. The process of determining whether the termination node is a fork in the road involves: identifying the connection information of the termination node to obtain its connection relationship with other roads or road segments, and determining whether the termination node has an exit road (exit link, which is connected to the turning road) based on the connection relationship, i.e., whether there is a road or road segment starting from the termination node; if a road or road segment starting from the termination node is determined, it is identified whether the road attribute of the exit road segment is non-motorized vehicle attribute or roundabout attribute; if the road attribute of the exit road segment is not non-motorized vehicle attribute or roundabout attribute, then the termination node is determined to be a fork in the road.

[0190] 305. When the terminal node is identified as a fork road node, obtain the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the turning road.

[0191] When the termination node is determined to be a fork in the road, it is determined that the turning road connected to the root node of the fork is a road that meets the turning prompts required in the navigation. Therefore, it is necessary to further determine the turning direction of the turning road, such as turning left or right. The process of determining the turning direction of the turning road is as follows: calculate the first direction parameter of the straight-in section connected to the root node of the fork, and calculate the second direction parameter of the turning road connected to the root node of the fork. This direction parameter can be the direction in the road network, such as an angle.

[0192] 306. Generate steering values ​​for the turning road based on the first and second direction parameters, and load the steering values ​​into the electronic map.

[0193] After obtaining the first direction parameters of the straight-in entry segment connected to the root node of the fork road and the second direction parameters of the turning road, the turning direction of the turning road connected to the root node of the fork road can be determined based on these parameters, thus determining the turning assignment. This turning assignment is the direction data corresponding to the road turning. For example, if the direction parameter is an angle, and the first direction parameter satisfies the threshold range of [10, 80] and the second direction parameter satisfies [15, 160], then the turning road connected to the root node of the fork road is determined to turn left, generating a left turn value (left turn assignment). If the second direction parameter satisfies the threshold range of [280, 350] and the second direction parameter satisfies [200, 335], then the turning road connected to the root node of the fork road is determined to turn right, generating a right turn value (right turn assignment). After obtaining the turning assignment of the turning road connected to the root node of the fork road, it is determined that the turning road meets the requirement of prompting a left turn or prompting a right turn, and the road chain exploration terminates.

[0194] Furthermore, after obtaining the turning assignment of the turning road connected to the root node of the branch road, the road chain exploration terminates, and the turning road segments in the intermediate traversed turning road sequence are returned, that is, the turning road sequence corresponding to the turning road is obtained. This turning road sequence contains one or more turning road segments. According to the obtained turning assignment, the turning road segments in the turning road sequence are marked to obtain the turning mark data corresponding to each turning road segment. The turning mark data is in the form of data that identifies the turning of the corresponding turning road segment. That is, the turning of the turning road segment is presented in the form of turning mark data. Then, the turning mark data of the turning road sequence is generated according to the turning mark data corresponding to each turning road segment, thereby generating the guidance information of the turning road segment.

[0195] On the other hand, if the first direction parameter does not meet the threshold range of [10, 80] or the second direction parameter does not meet [15, 160], and if the second direction parameter does not meet the threshold range of [280, 350] and the second direction parameter does not meet [200, 335], then it is determined that the turning road does not meet the requirement of prompting left turn or prompting right turn, the road chain exploration is terminated, and no attribute marking is performed on the turning road segments included in the turning road sequence.

[0196] As can be seen from the above, the embodiments of this application can obtain road network information, which includes multiple road node information, multiple road segment information, and connection information of each road node and at least one road segment. The road types include turning roads and straight roads. Road nodes that have connection relationships with turning roads and straight roads are determined as root nodes of branch roads. Based on the target connection information of the root nodes of branch roads, the termination node of the turning road corresponding to the target connection information is found. When the termination node is identified as a branch road node, the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the corresponding turning road are obtained. The turning value of the turning road is generated based on the first direction parameter and the second direction parameter, and the turning value is loaded into the electronic map.

[0197] Furthermore, by selecting the root node of the forked road connected to the turning road in the road network information and finding the terminal node opposite to the root node of the forked road, the second direction parameter of the turning road between the root node and the terminal node of the forked road is determined, and the first direction parameter of the straight road connected to the root node of the forked road is determined. Based on the first direction parameter and the second direction parameter, the turning of the turning road is determined, and the turning value of the turning road is determined. The data corresponding to the turning value is then loaded into the electronic map. In this way, the turning value of the turning road is generated based on the road nodes and roads in the road network information and loaded into the electronic map, avoiding errors and improving the accuracy of the guidance information of the turning road in the electronic map.

[0198] Based on the method described in the above embodiments, the following examples will provide further detailed explanations.

[0199] In this embodiment, the processing device for the electronic map will be specifically integrated into an electronic device as an example for explanation.

[0200] like Figure 4 As shown, an electronic map processing method is described below, with the specific process as follows:

[0201] S401: Obtain road network information.

[0202] This road network information includes information on multiple road nodes, multiple road segments, and connection information between each road node and at least one road segment. The road types include turning roads and straight-ahead roads.

[0203] S402: Push unvisited road nodes onto the stack.

[0204] The depth-first search algorithm is used to search and identify road nodes in the road network, and unvisited road nodes are pushed onto the stack.

[0205] S403: Pop the road node from the top of the stack.

[0206] S404: Determine whether the popped node meets the condition of a branching path root node; if not, execute process steps S402-S404; if it does, determine that the popped node is a branching path root node, and execute process step S405.

[0207] The conditions for determining the root node of the forked road are as follows: First, determine if the road node to be detected is a third-order point, i.e., whether there are three road segments connecting it to the road node. Second, determine if there is a turning road among the road nodes to be detected, i.e., the turning road corresponding to the data format Manoeuvre(INTERSECTION_CATEGORY=2), and whether there are straight-in and straight-out exit sections. Third, confirm whether the road angles of the straight-in and straight-out sections are within a preset angle threshold range, such as [0, 15] in this embodiment. If the above conditions are met, the road node is determined to be the root node of the forked road, and step S405 is executed. If the above conditions are not met, the road node is determined not to be the root node of the forked road, and steps S402-S404 are executed to search for another road node using a depth-first search algorithm to select the root node of the forked road.

[0208] S405: Push the road node adjacent to the root node of the branch road onto the stack.

[0209] After obtaining the root node of the branch road, the adjacent road nodes of the root node of the branch road are found by the depth-first algorithm, and the adjacent road nodes are pushed onto the stack.

[0210] S406: Determine whether the road node adjacent to the root node of the fork road meets the condition of an adjacent connected node; if it does, push the adjacent connected node onto the stack and execute process steps S405-S406; if it does not meet the condition, execute process step S407.

[0211] The determination of whether an adjacent road node is an adjacent connected node is based on the following conditions: whether the adjacent road node is a second-order point, i.e., whether the road segment (link) connected by the adjacent road node is two road segments; and further, whether the two road segments connected by the adjacent road node are turning segments, i.e., turning segments corresponding to the data format Manoeuvre(INTERSECTION_CATEGORY=2). If the above conditions are met, the adjacent road node is determined to be an adjacent connected node on the turning road where the root node of the branch road is located. Flow steps S405-S406 are executed to push the adjacent connected node onto the stack, and the search continues for the indirectly adjacent road node on the turning road to the root node of the branch road, i.e., the next road node adjacent to the adjacent connected node, until an adjacent road node that does not meet the above adjacent connected node conditions is found.

[0212] S407: Pop the adjacent road node from the stack to obtain the termination node.

[0213] The adjacent road node is designated as the termination node of the turning road.

[0214] S408: Determine whether the turning road meets the preset left or right turn conditions based on the road connected to the termination node; if it does, determine that the termination node is a fork road node, generate the turning value corresponding to the turning road between the fork road root node and the fork road node (termination node), and execute step S409; if it does not meet the conditions, stop exploring the road chain and the process ends.

[0215] The criteria for determining whether a termination node is a fork in the road are as follows: Identify the connection information of the termination node to obtain its connection relationship with other roads or road segments. Based on the connection relationship, determine if the termination node has an exit road (exit link, which is connected to a turning road), i.e., whether there is a road or road segment originating from the termination node. If a road or road segment originating from the termination node is identified, identify whether the road attribute of the exit road segment is a non-motorized vehicle attribute or a roundabout attribute. If the road attribute of the exit road segment is not a non-motorized vehicle attribute or a roundabout attribute, then the termination node is determined to be a fork in the road. When the termination node is determined to be a fork in the road, determine if the turning road meets the preset left or right turn conditions, and execute process step S409. If the termination node is not a fork in the road, determine if the turning road does not meet the preset left or right turn conditions, then stop exploring the road chain, and the process ends.

[0216] S409: Obtain the turning road sequence corresponding to the turning road; mark all turning segments contained in the turning road sequence according to the turning assignment, and load the turning assignment into the electronic map. Process ends.

[0217] Obtain the turning road sequence corresponding to the turning road between the root node of the branch road and the branch road node (terminal node); mark all turning road segments contained in the turning road sequence according to the turning assignment, and obtain the turning mark data corresponding to each turning road segment, thereby obtaining the turning mark data of the turning road sequence; generate the turning road guidance information based on the turning road sequence turning mark data, and load the guidance information into the electronic map.

[0218] It should be noted that, in the specific implementation of the embodiments of this application, the above steps can be implemented independently or in any combination. For the specific implementation of the above method steps, please refer to the previous method embodiments, which will not be repeated here.

[0219] To better implement the above methods, this application also provides an electronic map processing device, which can be integrated into a network device, such as a server or terminal. The terminal may include a tablet computer, a laptop computer, and / or a personal computer.

[0220] For example, such as Figure 5 As shown, the electronic map processing device may include a first acquisition unit 510, a determination unit 520, a search unit 530, a second acquisition unit 540, a generation unit 550, and a loading unit 560, as follows:

[0221] The first acquisition unit 510 is used to acquire road network information, which includes information on multiple road nodes, information on multiple road segments, and connection information of each road node to at least one road segment. The types of roads include turning roads and straight roads.

[0222] The determining unit 520 is used to determine the road nodes that have a connection relationship with the turning road and the straight road as the root nodes of the branch road;

[0223] The lookup unit 530 is used to look up the termination node of the turning road corresponding to the target connection information based on the target connection information of the root node of the branch road.

[0224] The second acquisition unit 540 is used to acquire the first direction parameters of the straight road and the second direction parameters of the turning road corresponding to the target connection information when the terminal node is identified as a fork road node.

[0225] The generation unit 550 is used to generate the steering assignment of the steering road based on the first direction parameter and the second direction parameter;

[0226] Loading unit 560 is used to load the steering assignment into the electronic map.

[0227] In some embodiments, the determining unit 520 includes:

[0228] Select a sub-unit to select a road node that has a connection relationship with the turning road from multiple road nodes as the first road node;

[0229] The sub-unit is used to obtain the first connection information corresponding to the first road node;

[0230] The determination subunit is used to determine the first road node as the root node of the forking road if, based on the first connection information, it is detected that all roads connected to the first road node include turning roads and straight roads.

[0231] The determination subunit is further configured to, if it is detected based on the first connection information that none of the roads connected to the first road node include straight roads, then execute the step of selecting a road node with a connection relationship to the turning road from multiple road nodes as the first road node, until the first road node is determined to be the root node of the fork road.

[0232] Furthermore, defining sub-units is also specifically used for:

[0233] Parse the first connection information to obtain the first connection relationship between the first road node and the turning road and the straight road, wherein the straight road includes the straight entry section and the straight exit section;

[0234] If the first connection relationship is detected, including connecting the first road node as the end node to the straight-in road, connecting the first road node as the start node to the straight-out road, and connecting the first road node as the start node to the turning road, then the road angle formed between the first road angle of the straight-in road and the straight-out road is identified.

[0235] If the road angle formed between the first road angle for entering the straight road and the road angle for exiting the straight road meets the preset angle threshold, then the first road node is determined to be the root node of the fork road.

[0236] In some embodiments, the lookup unit 530 includes:

[0237] The sub-unit is used to obtain the target connection information of the root node of the branch road;

[0238] The search sub-unit is used to find the road node on the turning road that is directly or indirectly adjacent to the root node of the fork road corresponding to the target connection information as the second road node. The second road node is the road node on the turning road other than the root node of the fork road.

[0239] The first determining subunit is used to determine the connection relationship between the second road node and the road based on the connection information of the second road node;

[0240] The second determining subunit is used to determine the second road node as the termination node when it is identified that the second connection relationship includes the second road node as the terminal node and the turning road as the connection node and the turning road as the connection node and the second road.

[0241] The second determining subunit is further configured to, when it is identified that the second connection relationship includes the second road node as the connection node connecting the two turning road segments contained in the turning road respectively, determine the second road node as an adjacent connection node, and perform the step of finding the road node directly or indirectly adjacent to the root node of the fork road on the turning road corresponding to the target connection information as the second road node, until the second road node is determined as the termination node.

[0242] Furthermore, the second determining subunit is specifically used for: after determining the second road node as an adjacent connecting node, obtaining another road node on the turning road that is adjacent to the adjacent connecting node as the second road node; obtaining the second connection information corresponding to the second road node and the road from the connection information, so as to identify the second connection relationship between the second road node and the road based on the second connection information; when the second connection relationship is identified to include the second road node as the terminal node and the turning road as the connecting node and the second straight road, determining the second road node as the terminal node.

[0243] Furthermore, this determining subunit is also used for:

[0244] After locating the terminus of the turning road, obtain the road attribute information corresponding to the second road, and determine the connection relationship between the second road and other roads based on the road attribute information;

[0245] When it is determined from the connection information that the second straight road has a connection relationship with other main roads, and the road attribute of the second straight road is determined to be a straight road, then the termination node is determined to be the branching main road node.

[0246] In some embodiments, the generating unit is specifically used for...

[0247] If the first direction parameter meets the preset first direction parameter threshold and the second direction parameter meets the preset second direction parameter threshold, then the turning value of the turning road between the root node and the termination node of the branch road is assigned to a left turn value.

[0248] If the first direction parameter meets the preset third direction parameter threshold and the second direction parameter meets the preset fourth direction parameter threshold, then the turning value of the turning road between the root node and the termination node of the target road is assigned as a right turn value.

[0249] Furthermore, in this embodiment, the generation unit 550 is also used to generate guidance information for the turning road based on the turning assignment;

[0250] The loading unit 560 is also used to load the guidance information of the turning road into the electronic map.

[0251] In some implementations, the generation unit 550 includes: an extraction subunit and a generation subunit;

[0252] The extraction unit is used to extract the turning road sequence corresponding to the turning road between the root node and the terminal node of the branch road after the generation unit 550 generates the guidance information. The turning road sequence includes at least one turning road segment.

[0253] The generated sub-unit is also used to mark the turning segments contained in the turning road sequence according to the turning assignment, so as to obtain the turning mark data of the turning road sequence;

[0254] The generation sub-unit is also used to generate steering information for the steering road based on the steering mark data of the steering road sequence.

[0255] In some implementations, the generation unit 550 further includes: acquiring a sub-unit, searching for a sub-unit, and generating a sub-unit;

[0256] Obtain sub-units for the turning road sequence corresponding to the turning road, so as to obtain the turning road segments contained in the turning road sequence;

[0257] The sub-unit is also used to obtain the steering angle between any two adjacent steering segments when the steering sequence is detected to contain multiple steering segments;

[0258] The lookup sub-unit is used to search a preset list of steering radian levels based on the steering angle, and obtain the radian level corresponding to the steering angle.

[0259] The generation sub-unit is used to generate the steering road guidance information based on the steering assignment and the radian level corresponding to the steering road segment contained in the steering road;

[0260] The loading unit 560 is used to load the guidance information of the turning road into the electronic map after the generation subunit generates the guidance information.

[0261] In some embodiments, this application further includes: a third acquisition unit;

[0262] The third acquisition unit is used to take the straight road where the root node of the branch road is located as the first straight road and the straight road where the termination node is located as the second straight road, and to acquire the positional relationship between the second straight road and the first straight road.

[0263] The generation unit 550 is used to generate guidance information for the turning road corresponding to the target connection information based on the positional relationship and the turning assignment after generating the turning road's turning assignment.

[0264] The loading unit 560 is used to load the guidance information of the turning road into the electronic map after the generation unit 550 generates the guidance information.

[0265] In practice, each of the above units can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of each of the above units, please refer to the previous method embodiments, which will not be repeated here.

[0266] As can be seen from the above, this embodiment can acquire road network information through the first acquisition unit 510. The road network information includes multiple road node information, multiple road segment information, and connection information of each road node and at least one road segment. The road types include turning roads and straight roads. The determination unit 520 determines the road nodes that have connection relationships with turning roads and straight roads as the root nodes of the branch roads. The search unit 530 searches for the termination node of the turning road corresponding to the target connection information based on the target connection information of the root node of the branch road. The second acquisition unit 540 is used to acquire the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the corresponding turning road when the termination node is identified as a branch road node. The generation unit 550 generates the turning value of the turning road based on the first direction parameter and the second direction parameter, and the loading unit 560 loads the turning value into the electronic map.

[0267] Furthermore, by selecting the root node of the forked road connected to the turning road in the road network information and finding the terminal node opposite to the root node of the forked road, the second direction parameter of the turning road between the root node and the terminal node of the forked road is determined, and the first direction parameter of the straight road connected to the root node of the forked road is determined. Based on the first direction parameter and the second direction parameter, the turning of the turning road is determined, and the turning value of the turning road is determined. The data corresponding to the turning value is then loaded into the electronic map. In this way, the turning value of the turning road is generated based on the road nodes and roads in the road network information and loaded into the electronic map, avoiding errors and improving the accuracy of the guidance information of the turning road in the electronic map.

[0268] This application also provides an electronic device, such as... Figure 6 As shown, it illustrates a structural schematic diagram of the electronic device involved in the embodiments of this application, specifically:

[0269] The electronic device may include components such as a processor 601 with one or more processing cores, a memory 602 with one or more computer-readable storage media, a power supply 603, and an input unit 604. Those skilled in the art will understand that... Figure 6The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0270] The processor 601 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 602, and by calling data stored in the memory 602, it performs various functions and processes data, thereby performing overall detection of the electronic device. Optionally, the processor 601 may include one or more processing cores; preferably, the processor 601 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 601.

[0271] The memory 602 can be used to store software programs and modules. The processor 601 executes various functional applications and data processing by running the software programs and modules stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 602 may also include a memory controller to provide the processor 601 with access to the memory 602.

[0272] The electronic device also includes a power supply 603 that supplies power to the various components. Preferably, the power supply 603 can be logically connected to the processor 601 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 603 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0273] The electronic device may also include an input unit 604, which can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0274] Although not shown, the electronic device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 601 in the electronic device loads the executable files corresponding to the processes of one or more applications into the memory 602 according to the following instructions, and the processor 601 runs the applications stored in the memory 602, which can achieve the following: obtaining road network information, which includes multiple road node information, multiple road segment information, and connection information of each road node to at least one road segment, wherein the road types include turning roads and straight roads; determining the road nodes that have connection relationships with turning roads and straight roads as the root nodes of branch roads; finding the terminal node of the turning road corresponding to the target connection information according to the target connection information of the root node of the branch road; when the terminal node is identified as a branch road node, obtaining the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the corresponding turning road; generating the turning value of the turning road according to the first direction parameter and the second direction parameter, and loading the turning value into the electronic map.

[0275] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0276] As can be seen from the above, the computer device in this application embodiment can acquire road network information, which includes multiple road node information, multiple road segment information, and connection information of each road node and at least one road segment. The road types include turning roads and straight roads. Road nodes that have a connection relationship with turning roads and straight roads are identified as root nodes of branch roads. Based on the target connection information of the root nodes of branch roads, the terminal node of the turning road corresponding to the target connection information is found. When the terminal node is identified as a branch road node, the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the corresponding turning road are acquired. The turning value of the turning road is generated based on the first direction parameter and the second direction parameter, and the turning value is loaded into the electronic map. Furthermore, by selecting the root node of the forked road connected to the turning road in the road network information and finding the terminal node opposite to the root node of the forked road, the second direction parameter of the turning road between the root node and the terminal node of the forked road is determined, and the first direction parameter of the straight road connected to the root node of the forked road is determined. Based on the first direction parameter and the second direction parameter, the turning of the turning road is determined, and the turning value of the turning road is determined. The data corresponding to the turning value is then loaded into the electronic map. In this way, the turning value of the turning road is generated based on the road nodes and roads in the road network information and loaded into the electronic map, avoiding errors and improving the accuracy of the guidance information of the turning road in the electronic map.

[0277] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0278] Therefore, embodiments of this application provide a computer-readable storage medium storing a plurality of instructions that can be loaded by a processor to execute steps in any of the electronic map processing methods provided in embodiments of this application. For example, the instructions can execute the following steps:

[0279] The process involves acquiring road network information, which includes multiple road node information, multiple road segment information, and connection information between each road node and at least one road segment. Road types include turning roads and straight roads. Road nodes connected to turning and straight roads are identified as root nodes of branch roads. Based on the target connection information of the branch road root nodes, the termination node of the turning road corresponding to the target connection information is located. When a branch road node is identified as a termination node, the first direction parameter of the straight road corresponding to the target connection information and the second direction parameter of the corresponding turning road are acquired. A turning value is generated for the turning road based on the first and second direction parameters, and this turning value is loaded into the electronic map.

[0280] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0281] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0282] Since the instructions stored in the computer-readable storage medium can execute the steps in any of the medical image segmentation methods provided in the embodiments of this application, the beneficial effects that any of the electronic map processing methods provided in the embodiments of this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0283] According to one aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in various optional implementations of any of the embodiments of this application described above.

[0284] The above provides a detailed description of an electronic map processing method, apparatus, device, and storage medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A processing method of an electronic map, characterized by, The method comprises the following steps: obtaining road network information, wherein the road network information comprises a plurality of road node information, a plurality of road segment information, and connection information of each road node and at least one road segment, wherein the types of the roads comprise turning roads and straight roads; determining a road node having a connection relationship between the turning road and the straight road as a bifurcation road root node; according to target connection information of the bifurcation road root node, finding a terminal node of a turning road corresponding to the target connection information; when it is identified that the terminal node is a bifurcation road node, obtaining a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a turning road corresponding to the target connection information, comprising: obtaining a first node coordinate of the bifurcation road root node in the road network, and confirming a second node coordinate corresponding to a starting node of a straight entering road segment with the bifurcation road root node as a terminal node, and obtaining a first direction parameter of the straight entering road segment in the straight road corresponding to the target connection information according to the first node coordinate and the second node coordinate; obtaining a third node coordinate of the terminal node on the turning road, and obtaining the second direction parameter of the turning road corresponding to the target connection information according to the first node coordinate and the third node coordinate; generating a turning assignment of the turning road according to the first direction parameter and the second direction parameter, and loading the turning assignment to an electronic map.

2. The method of claim 1, wherein, determining a road node having a connection relationship between the turning road and the straight road as a bifurcation road root node, comprising: selecting a road node having a connection relationship with a turning road as a first road node from the plurality of road nodes; obtaining first connection information corresponding to the first road node; if it is detected according to the first connection information that all roads connected with the first road node contain the turning road and the straight road, determining the first road node as a bifurcation road root node; if it is detected according to the first connection information that all roads connected with the first road node do not contain the straight road, performing the step of selecting a road node having a connection relationship with a turning road as a first road node from the plurality of road nodes until the first road node is determined as a bifurcation road root node.

3. The method of claim 2, wherein, if it is detected according to the first connection information that all roads connected with the first road node contain the turning road and the straight road, determining the first road node as a bifurcation road root node, comprising: analyzing the first connection information to obtain a first connection relationship between the first road node and the turning road and the straight road, wherein the straight road comprises a straight entering road and a straight exiting road; when it is detected that the first connection relationship comprises a connection between the straight entering road and the straight exiting road with the first road node as a terminal node, a connection between the straight exiting road and the turning road with the first road node as a starting node, and a connection between the turning road and the first road node with the first road node as a starting node, identifying a road angle formed between the straight entering road and the straight exiting road; In a case where it is detected that an angle between the straight-in road and the straight-out road meets a preset angle threshold, the first road node is determined as a branch road root node.

4. The method of claim 1, wherein, The target connection information of the branch road root node is used to find a terminal node of a turning road corresponding to the target connection information. Target connection information of the branch road root node is acquired. A road node directly or indirectly adjacent to the branch road root node on the turning road corresponding to the target connection information is found as a second road node. Second connection relationships between the second road node and roads are determined according to connection information of the second road node. In a case where the second connection relationships include connections between the second road node and the turning road and between the turning road and a second road, the second road node is determined as a terminal node. In a case where the second connection relationships include connections between the second road node and two turning road segments included in the turning road, the second road node is determined as an adjacent connection node, and the step of finding a road node directly or indirectly adjacent to the branch road root node on the turning road corresponding to the target connection information as a second road node is performed until the second road node is determined as a terminal node.

5. The method of claim 1, wherein, The first direction parameter and the second direction parameter are used to generate a turning assignment of the turning road. In a case where the first direction parameter meets a preset first direction parameter threshold and the second direction parameter meets a preset second direction parameter threshold, a turning assignment of the turning road between the branch road root node and the terminal node is generated as a left-turn value. In a case where the first direction parameter meets a preset third direction parameter threshold and the second direction parameter meets a preset fourth direction parameter threshold, a turning assignment of the turning road between the branch road root node and the terminal node is generated as a right-turn value.

6. The method of claim 1, wherein, The turning assignment is loaded to an electronic map. Guidance information of the turning road is generated according to the turning assignment. The guidance information of the turning road is loaded to the electronic map.

7. The method of claim 6, wherein, The guidance information of the turning road is generated according to the turning assignment. A turning road sequence corresponding to the turning road between the branch road root node and the terminal node is extracted, and the turning road sequence includes at least one turning road segment. The turning road segments included in the turning road sequence are marked according to the turning assignment, to obtain turning marking data of the turning road sequence. The guidance information of the turning road is generated according to the turning marking data of the turning road sequence.

8. A processing device of an electronic map, characterized by, The road network information includes a plurality of road node information, a plurality of road information, and connection information of each road node and at least one road connection. ​ The determining unit is configured to determine a road node having a connection relationship with the turning road and the straight road as a bifurcation road root node; The searching unit is configured to search for a terminal node of a turning road corresponding to target connection information of the bifurcation road root node according to the target connection information; The second obtaining unit is configured to, when it is identified that the terminal node is a bifurcation road node, obtain a first direction parameter of a straight road corresponding to the target connection information and a second direction parameter of a turning road corresponding to the target connection information, including: obtaining a first node coordinate of the bifurcation road root node in a road network, and confirming a second node coordinate of a starting node corresponding to a straight entering road section with the bifurcation road root node as a terminal node, obtaining the first direction parameter of the straight entering road section in the straight road corresponding to the target connection information according to the first node coordinate and the second node coordinate; obtaining a third node coordinate of the terminal node on the turning road, and obtaining the second direction parameter of the turning road corresponding to the target connection information according to the first node coordinate and the third node coordinate; The generating unit is configured to generate a turning assignment of the turning road according to the first direction parameter and the second direction parameter; The loading unit is configured to load the turning assignment to an electronic map.

9. The apparatus of claim 8, wherein, The determining unit comprises: The selecting subunit is configured to select a road node having a connection relationship with a turning road as a first road node from the plurality of road nodes; The obtaining subunit is configured to obtain first connection information corresponding to the first road node; The determining subunit is configured to determine the first road node as a bifurcation road root node if it is detected according to the first connection information that all roads connected with the first road node contain the turning road and a straight road; The determining subunit is further configured to execute the step of selecting a road node having a connection relationship with a turning road as a first road node from the plurality of road nodes until the first road node is determined as a bifurcation road root node if it is detected according to the first connection information that all roads connected with the first road node do not contain the straight road.

10. The apparatus of claim 9, wherein, The determining subunit is further configured to: analyze the first connection information to obtain a first connection relationship of the first road node with the turning road and the straight road, wherein the straight road contains a straight entering road section and a straight exiting road section; identify a road angle formed between the straight entering road and the straight exiting road when it is detected that the first connection relationship includes the straight entering road connected with the first road node as a terminal node, the straight exiting road connected with the first road node as a starting node, and the turning road connected with the first road node as a starting node; and determine the first road node as a bifurcation road root node when it is detected that the road angle formed between the straight entering road and the straight exiting road meets a preset angle threshold.

11. The apparatus of claim 8, wherein, The searching unit comprises: The obtaining subunit is configured to obtain target connection information of the bifurcation road root node; The searching subunit is configured to search for a road node directly or indirectly adjacent to the bifurcated road root node on the target connection information corresponding turning road as a second road node, and the second road node is a road node other than the bifurcated road root node on the turning road; The first determining subunit is configured to determine a second connection relationship between the second road node and the road according to the connection information of the second road node; The second determining subunit is configured to determine that the second road node is a terminal node when it is identified that the second connection relationship contains a connection between the turning road and the second road node as a terminal node and a connection between the second road node and the second road as a connection node. The second determining subunit is further configured to determine that the second road node is an adjacent connection node when it is identified that the second connection relationship contains a connection between the turning road and the second road node as a connection node and a connection between the second road node and the second road as a connection node.

12. The apparatus of claim 8, wherein, The generation unit is further configured to generate a turning assignment of the turning road between the bifurcated road root node and the terminal node as a left turning value when it is detected that the first direction parameter meets a preset first direction parameter threshold and the second direction parameter meets a preset second direction parameter threshold.

13. The apparatus of claim 8, wherein, The generation unit is further configured to generate the guidance information of the turning road according to the turning assignment. The loading unit is further configured to load the guidance information of the turning road to the electronic map.

14. The apparatus of claim 13, wherein, The generation unit comprises: The extraction subunit is configured to extract a turning road sequence corresponding to the turning road between the bifurcated road root node and the terminal node, and the turning road sequence comprises at least one turning road segment. The generation subunit is configured to mark the turning road segments contained in the turning road sequence according to the turning assignment, to obtain turning marking data of the turning road sequence. The generation subunit is further configured to generate the guidance information of the turning road according to the turning marking data of the turning road sequence.

15. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein, The processor executes the program to implement the steps of the processing method of the electronic map according to any one of claims 1-7.

16. A computer readable storage medium having stored thereon a computer program, wherein, The computer program is executed by the processor to implement the steps of the processing method of the electronic map according to any one of claims 1-7.

17. A computer program product, characterised in that, The computer program product comprises computer instructions stored in a computer readable storage medium; the processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to enable the computer device to perform the steps of the processing method of the electronic map according to any one of claims 1-7.

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