Obstacle absence detection method and apparatus, electronic device, and storage medium

Abstract

The disclosure provides an obstacle missing detection method and device, electronic equipment and storage medium, and relates to the fields of electronic map, computer vision, intelligent transportation and the like. The method can include: determining a range surface corresponding to any interested surface in a map; traversing roads located in the range surface; for a traversed road, adding the road to a road set in response to determining that the road is a non-internal road; and determining whether the interested surface is an obstacle missing interested surface according to the roads in the road set. The scheme can save manpower and time costs and improve processing efficiency.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of artificial intelligence, in particular to an obstacle absence detection method and device, electronic equipment and storage medium in the fields of electronic map, computer vision and intelligent transportation. BACKGROUND

[0002] In the field of navigation electronic map, various properties need to be assigned to roads to meet diversified navigation needs. Regardless of the navigation mode, the weight of internal roads is usually the lowest, and internal roads are usually discarded when they are not used as navigation destinations.

[0003] In actual applications, whether a road is an internal road is usually determined based on obstacles. As the name implies, an internal road refers to an internal road, such as a road located entirely or partially in a residential area, and an obstacle refers to a facility on a road for blocking the free entry and exit of vehicles, such as a liftable barrier or a switchable door.

[0004] Due to various reasons, the obstacles of some roads on the map are missing, which affects the correct judgment of whether a road is an internal road, etc. SUMMARY

[0005] The present disclosure provides an obstacle absence detection method, device, electronic equipment and storage medium.

[0006] An obstacle absence detection method comprises:

[0007] For any interest surface in a map, a range surface corresponding to the interest surface is determined;

[0008] Roads located in the range surface are traversed, and for a traversed road, the road is added to a road set in response to determining that the road is a non-internal road;

[0009] Whether the interest surface is an obstacle absence interest surface is determined according to the roads in the road set.

[0010] An obstacle absence detection device comprises a range determination module, a set generation module and a absence detection module.

[0011] The range determination module is configured to determine, for any interest surface in a map, a range surface corresponding to the interest surface;

[0012] The set generation module is configured to traverse roads located in the range surface, and for a traversed road, the road is added to a road set in response to determining that the road is a non-internal road;

[0013] The absence detection module is configured to determine whether the interest surface is an obstacle absence interest surface according to the roads in the road set.

[0014] An electronic device comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein

[0017] the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method as described above.

[0018] A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method as described above.

[0019] A computer program product comprising computer programs / instructions which, when executed by a processor, implement the method as described above.

[0020] It should be understood that the contents described in this section are not intended to identify key or important features of the embodiments of the present disclosure, nor are they used to limit the scope of the present disclosure. Other features of the present disclosure will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings are used to better understand the present scheme, and do not constitute limitations on the present disclosure. Among them:

[0022] Figure 1 a flowchart of the obstacle absence detection method embodiment described in the present disclosure;

[0023] Figure 2 a road schematic diagram located in a range surface described in the present disclosure;

[0024] Figure 3 a constituent structure schematic diagram of the obstacle absence detection device embodiment 300 described in the present disclosure;

[0025] Figure 4 A schematic block diagram of an electronic device 400 that can be used to implement embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0026] Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to assist in understanding, and should be considered as merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Also, in order to be clear and concise, descriptions of well-known functions and structures are omitted in the following description.

[0027] In addition, it should be understood that the term "and / or" herein merely describes an associated relationship with the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the existence of A alone, the existence of A and B together, and the existence of B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0028] Figure 1 A flowchart of an embodiment of the obstacle missing detection method of the present disclosure is shown in FIG. 1. As shown in FIG. 1, the embodiment includes the following specific implementation. Figure 1

[0029] In step 101, for any area of interest (AOI) in a map, a range face corresponding to the AOI is determined.

[0030] In step 102, roads located in the range face are traversed, and for a traversed road, the road is added to a road set in response to a determination that the road is a non-internal road.

[0031] In step 103, whether the AOI is an obstacle missing AOI is determined according to the roads in the road set.

[0032] In the conventional way, missing obstacles are usually determined by manual field collection and the like. When facing a large range of map data, a lot of manpower and time cost are needed, and the efficiency is low.

[0033] According to the scheme of the embodiment of the method of the present disclosure, for each AOI in a map, whether the AOI is an obstacle missing AOI can be automatically determined according to the non-internal roads therein, thereby saving manpower and time cost, improving processing efficiency, and ensuring the accuracy of the processing result.

[0034] An AOI refers to a region-like geographical entity in a map, such as a residential area, a university, an office building, a shopping mall, a hospital, or a sports stadium.

[0035] For an AOI determined to be an obstacle missing AOI, a professional can subsequently check it to determine which road or which roads are missing obstacles, and the obstacle information can be added to the map database, and the attributes of the corresponding road can be updated according to the added obstacle information, i.e., the corresponding road is marked as an internal road, and the road can be avoided in navigation route planning, and a road with better traffic capacity can be guided to walk, and the like.

[0036] In actual applications, each AOI in a map can be processed according to the method of the present disclosure.

[0037] ​Specifically, for any interested face, its corresponding range face can be acquired first. Generally, each interested face corresponds to a set of polygon coordinates respectively, and the range face corresponding to the interested face, i.e., the area range, can be determined according to the polygon coordinates.

[0038] Then, the roads in the range face, including all or part of the roads in the range face, can be traversed, and for each traversed road, it can be determined whether it is an internal road. If it is not an internal road, the road can be added to the road set, and if it is an internal road, the road can be directly filtered out.

[0039] In one embodiment of the present disclosure, for each traversed road, the attribute information of the road can be acquired from the map database, and in response to determining that the road is not an internal road according to the attribute information, the road can be added to the road set, otherwise, the road can be filtered out, i.e., the road can be skipped without processing.

[0040] In the map database, whether each road is an internal road can be marked in the attribute information of the road, and accordingly, based on the attribute information, whether the road is an internal road can be determined efficiently and accurately.

[0041] After the traversal is completed, whether the interested face is an obstacle missing interested face can be determined according to the roads in the road set.

[0042] In one embodiment of the present disclosure, the roads in the road set can be divided into first type roads and second type roads, the first type roads are roads whose entire roads are located within the range face, and the second type roads are roads other than the first type roads, and then whether the interested face is an obstacle missing interested face can be determined according to the second type roads.

[0043] The second type roads refer to roads that cover the boundary of the range face, and the covering includes roads that terminate at the boundary and roads that continue to extend outward after the boundary, which usually extend outward for a certain distance.

[0044] Figure 2 A schematic diagram of the roads in the range face according to the present disclosure is shown. As shown in FIG. 1, it is assumed that there are six roads, road 1 to road 6, and it is assumed that the six roads are all added to the road set. It can be seen that the first type roads include road 2, road 4 and road 5, and the second type roads include road 1, road 3 and road 6. Figure 2

[0045] Since obstacles are usually arranged on the second type roads, preferably, the second type roads can be selected from the road set first, and then whether the interested face is an obstacle missing interested face can be determined according to the second type roads, thereby improving the processing efficiency.

[0046] ​Specifically, in one embodiment of this disclosure, each second type of road can be traversed, and for each second type of road traversed, the following first process can be performed: obtaining the end point of the second type of road; in response to determining that the end point is an end point of a predetermined type, determining that the interest surface is an interest surface with missing obstacles; otherwise, in response to determining that there is a next second type of road, repeating the first process for the next second type of road.

[0047] That is, once the end point of the second type of road traversed is determined to be the end point of the predetermined type, the traversal can be ended, and the interest surface can be determined to be the interest surface with missing obstacles, thereby saving subsequent processing steps, improving processing efficiency and saving resource consumption.

[0048] In one embodiment of this disclosure, for any second type of road, obtaining its end point may include: in response to determining that there is an obstacle on the second type of road, taking the obstacle as the end point of the second type of road; in response to determining that there is no obstacle on the second type of road, but determining that the second type of road connects to a higher-level road outside the range surface, taking the connection point as the end point of the second type of road. Accordingly, the end point of the predetermined type may include: the connection point, i.e., the non-obstacle end point.

[0049] In one embodiment of this disclosure, for any second type of road, the presence of obstacles may include: obstacles existing at the location where the second type of road intersects with the boundary of the range surface, or obstacles existing at the portion of the second type of road outside the range surface.

[0050] For any road of type II, the presence of obstacles on the road can be determined based on the road information recorded in the map database.

[0051] by Figure 2 Taking Road 1, Road 3, and Road 6 as an example, assume the traversal order is Road 1, Road 3, and Road 6.

[0052] For road 1, assuming there is an obstacle at the intersection of road 1 and the boundary of the defined area, then the obstacle can be considered the end point of road 1. For example, if the obstacle is a door that can be opened and closed, then the obstacle is usually located at the intersection of the road and the boundary of the defined area. Since the end point of road 1 is an obstacle, the next type of road can be processed.

[0053] For the road 3, if there is an obstacle on the part of the road 3 that is outside the range surface, the obstacle can be taken as the end point of the road 3. For example, the obstacle is a liftable fence, and the obstacle is usually located on the part of the road that extends outside the range surface. Since the end point of the road 3 is also an obstacle, the next second-type road can be processed continuously.

[0054] For the road 6, if there is no obstacle on the road 6, but the road 6 is directly connected to a higher-level road outside the range surface, the connection point can be taken as the end point of the road 6, and the interest surface can be determined as the interest surface of the absence of obstacles.

[0055] In actual applications, for any second-type road, it can be first determined whether there is an obstacle on the road, and if it is determined that there is no obstacle, it can be further determined whether the road is connected to a higher-level road outside the range surface.

[0056] If the end points of each second-type road in the road set are all obstacles, it can be determined that the interest surface is not the interest surface of the absence of obstacles, that is, the interest surface does not lack obstacles.

[0057] In the above manner, based on the type of the end point of each second-type road, the interest surface whether it is the interest surface of the absence of obstacles can be determined conveniently and efficiently.

[0058] In one embodiment of the present disclosure, after it is determined that the interest surface is the interest surface of the absence of obstacles, roads that are suspected to have problems can be filtered out from the road set, and the filtered roads are output as reference information for solving the problem of the absence of obstacles of the interest surface.

[0059] Specifically, in one embodiment of the present disclosure, roads that meet the following condition can be filtered out from the road set: being able to reach any non-obstacle end point by itself or by other connected roads, and the filtered roads are taken as the roads suspected to have problems.

[0060] For example, if the road set includes the road 1, the road 2, the road 3, the road 4, the road 5, and the road 6 shown in FIG. 1, each road can be traversed, and whether each road meets the condition can be determined respectively when each road is traversed. If yes, the road can be determined as the road suspected to have problems. Figure 2

[0061] For example, for the road 1, although it cannot reach the non-obstacle end point by itself, it can reach the non-obstacle end point by the connected road 6, and then the road 1 can be determined as the road suspected to have problems.

[0062] ​For example, for road 2, although it cannot reach the end point of the non-obstacle by itself, it can reach the end point of the non-obstacle through the connected road 6, or it can reach the end point of the non-obstacle through the connected road 4, road 5 and road 6, then road 2 can be determined as a road suspected to have a problem.

[0063] For example, for road 4, although it cannot reach the end point of the non-obstacle by itself, it can reach the end point of the non-obstacle through the connected road 2 and road 6, or it can reach the end point of the non-obstacle through the connected road 5 and road 6, then road 4 can be determined as a road suspected to have a problem.

[0064] If a road in the road set cannot reach the end point of any non-obstacle by itself or through other connected roads, then the road can be determined as a road not suspected to have a problem, i.e., a road without a problem. For simplicity of the drawings, this case is not shown in the drawings.

[0065] Subsequently, a professional can check the roads in the interest surface based on the reference information, determine which road or which roads lack the obstacle by analyzing the connection relationship between the roads, and the like, thereby improving the problem solving efficiency and the like.

[0066] In addition, the specific order of each iteration described in the disclosure can be determined according to actual needs, and is not limited specifically.

[0067] It should be noted that, for the foregoing method embodiments, in order to simply describe, the method embodiments are described as a combination of a series of actions, but those skilled in the art should know that the disclosure is not limited by the action order described, because according to the disclosure, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily required by the disclosure.

[0068] In summary, by using the scheme described in the method embodiments of the disclosure, it can be automatically determined whether each interest surface is an interest surface lacking an obstacle, thereby saving manpower and time cost, improving processing efficiency, and ensuring the accuracy of the processing result. In addition, subsequent problems caused by the attribute loss of the internal road, such as incorrect navigation planning route, can be solved by finding the missing obstacle, thereby improving the navigation quality and the like.

[0069] The above is the introduction of the method embodiments, and the scheme described in the disclosure will be further described through the device embodiments below.

[0070] Figure 3 The constituent structure schematic diagram of the obstacle loss detection device embodiment 300 of the disclosure is shown in FIG. 3. Figure 3As shown, the device comprises: a range determining module 301, a set generating module 302, and a missing detecting module 303.

[0071] The range determining module 301 is configured to determine a range face corresponding to any interested face in a map.

[0072] The set generating module 302 is configured to traverse roads located in the range face, and for each traversed road, if it is determined that the road is a non-interior road, the road is added to a road set.

[0073] The missing detecting module 303 is configured to determine whether the interested face is an obstacle-missing interested face according to the roads in the road set.

[0074] By using the above device embodiment, for each interested face in a map, whether it is an obstacle-missing interested face can be automatically determined according to the non-interior roads therein, thereby saving manpower and time cost, improving processing efficiency, and ensuring the accuracy of the processing result.

[0075] In actual applications, each interested face in a map can be processed according to the manner described in the present disclosure.

[0076] Specifically, for any interested face, the range determining module 301 can first obtain the range face corresponding thereto. Generally, each interested face corresponds to a set of polygon coordinates, and the range face corresponding to the interested face, i.e., the corresponding area range, can be determined according to the polygon coordinates.

[0077] Then, the set generating module 302 can traverse roads located in the range face, including all or part of the roads located in the range face, and for each traversed road, it can be determined whether it is an interior road. If it is a non-interior road, the road is added to the road set, and if it is an interior road, the road is directly filtered out.

[0078] In one embodiment of the present disclosure, for each traversed road, the set generating module 302 can obtain attribute information of the road from a map database, and if it is determined that the road is a non-interior road according to the attribute information, the road is added to the road set, otherwise, the road is filtered out, i.e., the road can be skipped without processing.

[0079] After the traversal is completed, the missing detecting module 303 can determine whether the interested face is an obstacle-missing interested face according to the roads in the road set.

[0080] In one embodiment of the present disclosure, the missing detection module 303 can divide the roads in the road set into first type roads and second type roads, the first type roads are roads entirely within the range surface, and the second type roads are roads other than the first type roads, and then determine whether the interest surface is an interest surface of obstacle missing according to the second type roads.

[0081] The second type roads are roads that cap the boundary of the range surface, including roads that terminate at the boundary and roads that continue to extend outward after the boundary, and generally extend outward for a certain distance.

[0082] Specifically, in one embodiment of the present disclosure, the missing detection module 303 can traverse each second type road, and for each traversed second type road, perform the following first processing: obtaining the end point of the second type road, in response to determining that the end point is a predetermined type of end point, determining that the interest surface is an interest surface of obstacle missing, otherwise, in response to determining that there is a next second type road, repeating the first processing for the next second type road.

[0083] That is, once it is determined that the end point of the traversed second type road is a predetermined type of end point, the traversal can be ended.

[0084] In one embodiment of the present disclosure, for any second type road, the missing detection module 303 can obtain the end point in the following manner: in response to determining that there is an obstacle on the second type road, taking the obstacle as the end point of the second type road, in response to determining that there is no obstacle on the second type road but determining that the second type road is connected to a higher level road outside the range surface, taking the connection point as the end point of the second type road, and accordingly, the predetermined type of end point includes the connection point.

[0085] In one embodiment of the present disclosure, for any second type road, the existence of the obstacle can include: the existence of an obstacle at the position where the second type road intersects with the boundary of the range surface, or the existence of an obstacle on the part of the second type road outside the range surface.

[0086] In actual application, for any second type road, it can be first determined whether there is an obstacle on the road, and if it is determined that there is no obstacle, it can be further determined whether the road is connected to a higher level road outside the range surface.

[0087] In one embodiment of the present disclosure, after the missing detection module 303 determines that the interest surface is an interest surface of obstacle missing, it can further screen roads suspected of having problems from the road set, and output the screened roads as reference information for solving the problem of obstacle missing of the interest surface.

[0088] Specifically, in one embodiment of the present disclosure, the missing detection module 303 can filter out roads from the road set that meet the following condition: any non-obstacle end point can be reached through itself or through other connected roads, and the filtered roads are taken as the suspected problematic roads.

[0089] Subsequently, a professional can check the roads in the interest surface based on the reference information, and determine which road or which roads are missing obstacles and the like by analyzing the connectivity between the roads and the like.

[0090] Figure 3 The specific working process of the device embodiment can refer to the related description in the foregoing method embodiment, and will not be described here.

[0091] In summary, the scheme described in the method embodiment of the present disclosure can automatically determine whether each interest surface is an interest surface missing obstacles, thereby saving manpower and time costs, improving processing efficiency, and ensuring the accuracy of the processing result. In addition, subsequent problems caused by missing internal road attributes, such as incorrect navigation planning routes, can be solved by finding missing obstacles, and the navigation quality can be improved.

[0092] The scheme described in the present disclosure can be applied to the field of artificial intelligence, and particularly relates to the fields of electronic maps, computer vision, and intelligent transportation. Artificial intelligence is a discipline that studies enabling computers to simulate some thinking processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.) of people. It has both hardware-level technologies and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, special artificial intelligence chips, cloud computing, distributed storage, big data processing, etc. Artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, and machine learning / deep learning, big data processing technology, knowledge graph technology, and several other major directions.

[0093] In the technical scheme of the present disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical scheme comply with relevant legal regulations and do not violate public order and good customs.

[0094] According to the embodiments of the present disclosure, the present disclosure further provides an electronic device, a readable storage medium, and a computer program product.

[0095] Figure 4A schematic block diagram of an electronic device 400 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0096] like Figure 4 As shown, device 400 includes a computing unit 401, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 402 or a computer program loaded from storage unit 408 into random access memory (RAM) 403. RAM 403 may also store various programs and data required for the operation of device 400. The computing unit 401, ROM 402, and RAM 403 are interconnected via bus 404. Input / output (I / O) interface 405 is also connected to bus 404.

[0097] Multiple components in device 400 are connected to I / O interface 405, including: input unit 406, such as keyboard, mouse, etc.; output unit 407, such as various types of monitors, speakers, etc.; storage unit 408, such as disk, optical disk, etc.; and communication unit 409, such as network card, modem, wireless transceiver, etc. Communication unit 409 allows device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0098] The computing unit 401 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 401 performs various methods and processes described above, such as the methods described in the present disclosure. For example, in some embodiments, the methods described in the present disclosure can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 400 via the ROM 402 and / or the communication unit 409. When the computer program is loaded onto the RAM 403 and executed by the computing unit 401, one or more steps of the methods described in the present disclosure can be performed. Alternatively, in other embodiments, the computing unit 401 can be configured to perform the methods described in the present disclosure by any other appropriate means, such as by means of firmware.

[0099] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0100] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces a means for implementing the functions / acts specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0101] In the context of this disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0102] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0103] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0104] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0105] It should be understood that the various forms of flow shown above can be used to reorder, add, or remove steps. For example, the steps described in the present disclosure can be performed in parallel, in series, or in a different order, without limitation herein, so long as the desired results of the technology described in the present disclosure are achieved.

[0106] The specific implementation described above does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for detecting obstacle missing, comprising: determining a range face corresponding to any interested face in a map; traversing roads in the range face, and adding a road to a road set in response to determining that the road is a non-internal road; determining whether the interested face is an obstacle missing interested face according to roads in the road set, including: dividing the roads in the road set into first type roads and second type roads, the first type roads being roads entirely located within the range face, and the second type roads being roads other than the first type roads; traversing each second type road, and performing the following first processing for a traversed second type road: obtaining an end point of the second type road, determining that the interested face is an obstacle missing interested face in response to determining that the end point is a predetermined type of end point, or otherwise, determining whether there is a next second type road, and repeating the first processing for the next second type road.

2. The method of claim 1, wherein, the adding the road to the road set in response to determining that the road is a non-internal road comprises: obtaining attribute information of the road from a map database; adding the road to the road set in response to determining that the road is a non-internal road according to the attribute information. 3.The method of claim 1, wherein the obtaining the end point of the second type road comprises: determining an obstacle on the second type road as the end point of the second type road in response to determining that there is an obstacle on the second type road, or determining a connection point as the end point of the second type road in response to determining that there is no obstacle on the second type road but the second type road is connected to a higher level road outside the range face; the predetermined type of end point comprises the connection point. 4.The method of claim 3, wherein the obstacle comprises an obstacle at a position where the second type road intersects with a boundary of the range face, or an obstacle on a part of the second type road located outside the range face. 5.The method of claim 3, further comprising: in response to determining that the interested face is an obstacle missing interested face, screening roads suspected to have problems from the road set, and outputting the screened roads as reference information for solving the obstacle missing problem of the interested face.

6. The method of claim 5, wherein, the screening roads suspected to have problems from the road set comprises: screening roads from the road set that meet the following condition: being able to reach any non-obstacle end point by itself or by other connected roads, and taking the screened roads as the roads suspected to have problems.

7. An obstacle absence detection apparatus comprising: a range determining module, a set generating module, and a missing detecting module; the range determining module is configured to determine a range face corresponding to any interested face in a map; the set generating module is configured to traverse roads in the range face, and add a road to a road set in response to determining that the road is a non-internal road; the missing detecting module is configured to determine whether the interested face is an obstacle missing interested face according to roads in the road set, including: dividing the roads in the road set into first type roads and second type roads, the first type roads being roads entirely located within the range face, and the second type roads being roads other than the first type roads; traversing each second type road, and performing the following first processing for a traversed second type road: obtaining an end point of the second type road, determining that the interested face is an obstacle missing interested face in response to determining that the end point is a predetermined type of end point, or otherwise, determining whether there is a next second type road, and repeating the first processing for the next second type road. The missing detection module is configured to determine whether the interest face is an obstacle-missing interest face according to the roads in the road set, including: dividing the roads in the road set into first-type roads and second-type roads, the first-type roads being roads entirely located within the range face, and the second-type roads being roads other than the first-type roads; traversing each second-type road, and for a traversed second-type road, performing the following first processing: obtaining an end point of the second-type road, and in response to determining that the end point is a predetermined type of end point, determining that the interest face is an obstacle-missing interest face, otherwise, in response to determining that there is a next second-type road, repeating the first processing for the next second-type road.

8. The apparatus of claim 7, wherein, The set generation module obtains attribute information of the road from a map database, and in response to determining that the road is a non-internal road according to the attribute information, adds the road to the road set.

9. The apparatus of claim 7, wherein, The missing detection module determines that an obstacle on the second-type road is an end point of the second-type road in response to determining that there is an obstacle on the second-type road, and determines that a connection point is an end point of the second-type road in response to determining that there is no obstacle on the second-type road but determining that the second-type road is connected to a higher-level road outside the range face. The predetermined type of end point includes the connection point.

10. The apparatus of claim 9, wherein, The obstacle includes an obstacle at a position where the second-type road intersects with a boundary of the range face, or an obstacle on a portion of the second-type road located outside the range face.

11. The apparatus of claim 9, wherein, The missing detection module is further configured to, in response to determining that the interest face is an obstacle-missing interest face, screen out roads suspected to have problems from the road set, and output the screened-out roads as reference information for solving the obstacle-missing problem of the interest face.

12. The apparatus of claim 11, wherein, The missing detection module screens out roads that meet the following condition from the road set: being able to reach any non-obstacle end point through itself or through other connected roads, and outputs the screened-out roads as the roads suspected to have problems.

13. An electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

14. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the method of any one of claims 1-6.

15. A computer program product comprising computer programs / instructions, which, when executed by a processor, implement the method of any one of claims 1-6.

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