Method, apparatus, electronic device, and computer storage medium for generating road attributes

Abstract

An embodiment of the present disclosure discloses a method, device, electronic device, and computer storage medium for generating road attributes. The method includes: determining attribute information of a target traffic prohibition sign; determining prohibited information shown on the target traffic prohibition sign; identifying the actual prohibited meaning of the target traffic prohibition sign at the current position based on the attribute information, prohibited information, and road data in the map data, where the actual prohibited meaning includes the road on which the target traffic prohibition sign acts and restriction-related information; and generating relevant attributes of the road on which the target traffic prohibition sign acts in the map data based on the actual prohibited meaning. This technical solution can reduce the degree of dependence on manual labor in map production, improve the automated production capacity of map data, and at the same time enrich road attributes, providing a more accurate data basis for the location service system.

Description

Technical Field

[0001] The present disclosure relates to the field of geographic information technology, and particularly to a method, apparatus, electronic device, and computer storage medium for generating road attributes. Background Art

[0002] A high-precision map abstracts the spatial ground object elements in the real world and performs logical expression through semantic means. There are more than a hundred kinds of map elements expressed in the high-precision map, including road facilities such as roads, lanes, and green belts, and also traffic management facilities such as traffic signs, cameras, and traffic lights. Traffic management facilities are generally used to remind traffic participants to safely pass in accordance with corresponding traffic management rules, and traffic participants need to make corresponding driving operations when seeing the corresponding traffic management facilities.

[0003] Map elements are made in the map in the form of road attributes or separately. In the production process of road attribute data, due to the diverse actual installation methods of traffic prohibition signs and the cumbersome content of the signs themselves, when confirming the actual prohibited meaning of traffic prohibition signs, such as restricted content and applicable roads, it is necessary to rely on complex production process specifications and certain data processing experience, resulting in greater difficulty in data production. Moreover, currently, the confirmation of the restricted content and applicable roads of traffic prohibition signs strongly relies on manual work.

[0004] Therefore, a solution needs to be proposed to automatically derive the actual prohibited meaning of traffic prohibition signs, so as to reduce the degree of dependence on manual work and improve the automated production ability of data. Summary of the Invention

[0005] Embodiments of the present disclosure provide a method, apparatus, electronic device, and computer storage medium for generating road attributes.

[0006] In a first aspect, an embodiment of the present disclosure provides a method for generating road attributes, including:

[0007] Determine the attribute information of a target traffic prohibition sign;

[0008] Determine the prohibited information shown on the target traffic prohibition sign;

[0009] Based on the attribute information, prohibited information, and road data in the map data, identify the actual prohibited meaning of the target traffic prohibition sign at the current position; the actual prohibited meaning includes the applicable road of the target traffic prohibition sign and restricted related information;

[0010] Generate relevant attributes of the applicable road in the map data based on the actual prohibited meaning.

[0011] Second aspect, an embodiment of the present invention provides a method for providing location-based services. The method uses the road-related attributes generated by the method described in the first aspect to provide location-based services for the service object; the location-based services include one or more of navigation, map rendering, and route planning.

[0012] Third aspect, an embodiment of the present invention provides a device for generating road attributes, which includes:

[0013] A first determination module, configured to determine the attribute information of the target traffic prohibition sign;

[0014] A second determination module, configured to determine the prohibition information shown on the target traffic prohibition sign;

[0015] An inference module, configured to identify the actual prohibition meaning of the target traffic prohibition sign at the current location based on the attribute information, the prohibition information, and the road data in the map data; the actual prohibition meaning includes the road where the target traffic prohibition sign takes effect and the restriction-related information;

[0016] A generation module, configured to generate the relevant attributes of the road where the target traffic prohibition sign takes effect in the map data based on the actual prohibition meaning.

[0017] The above functions can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0018] In a possible design, the structure of the above device includes a memory and a processor. The memory is used to store one or more computer instructions that support the above device to execute the corresponding method. The processor is configured to execute the computer instructions stored in the memory. The above device may further include a communication interface for the above device to communicate with other devices or communication networks.

[0019] Fourth aspect, an embodiment of the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored on the memory. The processor executes the computer program to implement the method described in any of the above aspects.

[0020] Fifth aspect, an embodiment of the present disclosure provides a computer-readable storage medium for storing the computer instructions used by any of the above devices. When the computer instructions are executed by a processor, they are used to implement the method described in any of the above aspects.

[0021] Sixth aspect, an embodiment of the present disclosure provides a computer program product, which includes computer instructions. When the computer instructions are executed by a processor, they are used to implement the method described in any of the above aspects.

[0022] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0023] For a target traffic prohibition sign on a road, the embodiments of the present disclosure determine its attribute information and the prohibition information shown on the front of the sign, and deduce the actual prohibition meaning of the target traffic prohibition sign at the current position based on the attribute information, the prohibition information, and the road data. Furthermore, relevant attributes of the road acting in the map data are generated based on the actual prohibition meaning. Through the embodiments of the present disclosure, the actual prohibition meaning of a target traffic prohibition sign can be automatically deduced according to the entity information of the target traffic prohibition sign, and then the road data of the relevant road can be generated based on the actual prohibition meaning, which can reduce the dependence on manual labor in map production, improve the automated production ability of map data, and at the same time enrich the road attributes, providing a more accurate data basis for the location service system.

[0024] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In conjunction with the accompanying drawings, through the following detailed description of non-limiting embodiments, other features, objects, and advantages of the present disclosure will become more apparent. In the drawings:

[0026] Figure 1 A flowchart showing a method for generating road attributes according to an embodiment of the present disclosure;

[0027] Figure 2 An image schematic diagram showing a target traffic prohibition sign according to an embodiment of the present disclosure;

[0028] Figure 3 An effect schematic diagram showing a target traffic prohibition sign with low confidence according to an embodiment of the present disclosure;

[0029] Figure 4 A flowchart showing a judgment implementation process of the relative position relationship between the target traffic prohibition sign and the acting intersection in the embodiments of the present disclosure;

[0030] Figure 5 A navigation process schematic diagram showing an intelligent driving vehicle according to an embodiment of the present disclosure;

[0031] Figure 6 A structural block diagram showing a device for generating road attributes according to an embodiment of the present disclosure;

[0032] Figure 7 A structural schematic diagram of an electronic device suitable for implementing the method for generating road attributes and / or the method for providing location-based services according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for clarity, parts unrelated to the description of the exemplary embodiments are omitted in the drawings.

[0034] In the present disclosure, it should be understood that terms such as "including" or "having" are intended to indicate the presence of features, numbers, steps, actions, components, parts, or combinations thereof disclosed in this specification, and do not exclude the possibility of the presence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0035] It should be further noted that, without conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0036] The details of the embodiments of the present disclosure will be introduced in detail below through specific examples.

[0037] Figure 1 A flowchart showing a method for generating road attributes according to an embodiment of the present disclosure is shown. As Figure 1 shown, the method for generating road attributes includes the following steps:

[0038] In step S101, determine the attribute information of the target traffic prohibition sign;

[0039] In step S102, determine the prohibited information shown on the target traffic prohibition sign;

[0040] In step S103, based on the attribute information, prohibited information, and road data in the map data, identify the actual prohibited meaning of the target traffic prohibition sign at the current position; wherein, the actual prohibited meaning includes the road on which the target traffic prohibition sign acts and restriction-related information;

[0041] In step S104, generate relevant attributes of the road on which the target traffic prohibition sign acts in the map data based on the actual prohibited meaning.

[0042] In this embodiment, the method for generating road attributes can be executed on a server. The target traffic prohibition sign can be any one or more traffic signs that restrict the driving behavior of driving objects on the road. For example, it can be traffic signs such as no left turn, no right turn, no U-turn, no passage for a certain type of vehicle, etc.

[0043] The attribute information of the target traffic prohibition sign may include, but is not limited to, the associated road, associated intersection, orientation, etc. of the target traffic prohibition sign. In some embodiments, the associated road and associated intersection of the target traffic prohibition sign may be determined based on the stamping point position of the target traffic prohibition sign on the actual road (i.e., its position on the actual road) being on a certain road or at a certain intersection. If the target traffic prohibition sign stands alone on the road, then this road is the associated road of the target traffic prohibition sign, and if the target traffic prohibition sign stands on the traffic light at the intersection, then this intersection is the associated intersection of the target traffic prohibition sign. The associated road and associated intersection of the target traffic prohibition sign may be represented by the identifiers of the associated road and associated intersection in the map data.

[0044] The orientation of the target traffic prohibition sign may be determined by the image data of the target traffic prohibition sign and the direction of the road on which the collection vehicle travels when collecting the image data of the target traffic prohibition sign. Usually, the collection vehicle will collect the image data of the target traffic prohibition sign from the front during driving, and based on this principle, the orientation of the target traffic prohibition sign can be determined.

[0045] In some embodiments, the orientation of the target traffic prohibition sign may be represented by the counterclockwise or clockwise angle value between the front orientation of the target traffic prohibition sign and a preset reference direction. For example, its orientation may be represented as the counterclockwise angle value with respect to the due north direction, etc.

[0046] When collecting road data, the image data of the target traffic prohibition sign may be collected, and target recognition is performed on the image data of the target traffic prohibition sign to obtain the prohibition information shown on the target traffic prohibition sign. The method of target recognition of images can refer to the existing technology and will not be elaborated here.

[0047] In some embodiments, the prohibition information may include, but is not limited to, content such as the restricted actions, restricted vehicle types, and restricted time shown on the image of the target traffic prohibition sign. In accordance with the actual traffic rules, the prohibition information of the target traffic prohibition sign needs to be understood in combination with the actual road conditions. Here, only the prohibition information shown on the target traffic prohibition sign is recognized through image recognition, and then the actual prohibition meaning when the target traffic prohibition sign is at the current position, that is, the current associated road or associated intersection, can be deduced by combining the determined attribute information of the target traffic prohibition sign and the road data in the map data.

[0048] Figure 2 Shows a schematic diagram of the image of the target traffic prohibition sign according to an embodiment of the present disclosure. As Figure 2As shown, the target traffic prohibition sign shows signs prohibiting left turns and right turns, and the types of vehicles, i.e., trucks and trailers / semi-trailers, are shown on the auxiliary sign. Therefore, the prohibited information that can be determined from the target traffic prohibition sign includes: the restricted actions are prohibiting left turns and right turns, and the restricted vehicle types are trucks and trailers / semi-trailers.

[0049] In some embodiments, the types of vehicles that the auxiliary sign may identify can include the following:

[0050] Small (type) vehicle; large (type) vehicle; micro vehicle; light vehicle; medium vehicle; heavy vehicle; truck; freight vehicle (operating truck); truck (motor truck); dump truck; micro truck; light truck; medium truck; heavy truck; small (type) truck; large (type) truck; pickup truck; (trailer / semi-) trailer; large license plate vehicle; large motor vehicle; truck with load; tractor; container truck; special operation vehicle; low-speed truck with load; over-limit vehicle; office vehicle; flood control and emergency rescue vehicle; construction site vehicle; work vehicle; construction vehicle.

[0051] The road data in the map data includes various road-related information such as each road in a predetermined area and the attributes of each road. For example, the road data can include the identification of the road, the name of the road, the associated elements of the road, the driving direction of the road, lane information, etc. The associated elements of the road can include various traffic signs (including traffic prohibition signs) set on the road, direction signs on the road, road edges, lane lines, traffic lights, vertical poles, and other elements.

[0052] After determining the attribute information and prohibited information of the target traffic prohibition sign, based on the attribute information, prohibited information, and the existing road data in the map data, the actual prohibited meaning of the target traffic prohibition sign at the current position can be derived. This actual prohibited meaning can be understood as the traffic restriction rules that driving objects such as vehicles need to abide by when driving to the target traffic prohibition sign. This actual prohibited meaning may be the same as or different from the prohibited information directly recognized from the image on the target traffic prohibition sign, mainly depending on the actual road conditions at the current position of the target traffic prohibition sign.

[0053] For example, the prohibited information shown on the target traffic prohibition sign is to restrict vehicles from making a U-turn at the current intersection, but there is a broken and solid line allowing "left U-turn" set in the left-turn direction. In this case, the actual prohibited meaning of the target traffic prohibition sign needs to cancel the prohibition of "left U-turn". Another example is that the prohibited information shown on the target traffic prohibition sign is to restrict non-motor vehicles from passing, while the application side of the map data is for motor vehicles. In this case, the prohibited information of the target traffic prohibition sign belongs to invalid content, and the target traffic prohibition sign may not be reflected in the map data.

[0054] Therefore, after determining the attribute information of the target traffic prohibition sign based on the data collected on the road and the prohibition information directly recognized from the image of the target traffic prohibition sign in the embodiments of the present disclosure, it is necessary to derive the actual prohibition meaning of the target traffic prohibition sign at the current position based on the attribute information such as the associated road, associated intersection, and / or orientation, and combine the road data with the prohibition information.

[0055] The actual prohibition meaning may include, but is not limited to, the road where the target traffic prohibition sign takes effect and restriction-related information; the restriction-related information may include, but is not limited to, the restricted actions, vehicle types, operating time, and other database management information of the target traffic prohibition sign. The road where it takes effect may, for example, include the road where the prohibition information of the target traffic prohibition sign takes effect, and the restricted actions include restriction information on the turning relationship, entry section, and turning path of the road where it takes effect; the vehicle types may include the restricted vehicle types, vehicle sizes, load weights, etc.; other database management information may include, but is not limited to, information such as the data generation time.

[0056] After deriving the actual prohibition meaning of the target traffic prohibition sign, the actual prohibition meaning can be stored as the road attribute of the road where it takes effect in the map data, so that when navigating a moving object subsequently, the path can be planned and navigation information can be output based on the attribute information. For example, Road A includes an attribute generated based on the actual prohibition meaning of the target traffic prohibition sign: left turn is restricted at the associated intersection B; when planning a path involving Road A, the possibility of making a left turn at the associated intersection B needs to be excluded.

[0057] In the embodiments of the present disclosure, for the target traffic prohibition sign on the road, its attribute information and the prohibition information shown on the front of the sign are determined, and the actual prohibition meaning of the target traffic prohibition sign at the current position is derived based on the attribute information, the prohibition information, and the road data. Furthermore, the relevant attributes of the road where it takes effect in the map data are generated based on the actual prohibition meaning. Through the embodiments of the present disclosure, the actual prohibition meaning of the target traffic prohibition sign can be automatically derived according to the entity information of the target traffic prohibition sign, and then the road data of the relevant road can be generated based on the actual prohibition meaning, which can reduce the dependence on manual work in map production, improve the automated production capacity of map data, and at the same time enrich the road attributes, providing a more accurate data basis for the location service system.

[0058] In an optional implementation manner of this embodiment, step S101, that is, the step of determining the attribute information of the target traffic prohibition sign, further includes the following steps:

[0059] Determine the associated road or associated intersection of the target traffic prohibition sign based on the puncture point position of the target traffic prohibition sign;

[0060] Determine the angular value between the front orientation of the target traffic prohibition sign and a predetermined reference direction.

[0061] In this optional implementation, as described above, the attribute information of the target traffic prohibition sign may include, but is not limited to, the associated road, associated intersection, orientation, etc. of the target traffic prohibition sign. In some embodiments, the associated road and associated intersection of the target traffic prohibition sign may be determined based on the puncture point position of the target traffic prohibition sign on the actual road (i.e., its position on the actual road) being on a certain road or a certain intersection. If the target traffic prohibition sign stands alone on the road, then this road is the associated road of the target traffic prohibition sign, and if the target traffic prohibition sign stands on the traffic light at the intersection, then this intersection is the associated intersection of the target traffic prohibition sign. The associated road and associated intersection of the target traffic prohibition sign may be represented by the identifiers of the associated road and associated intersection in the map data.

[0062] The orientation of the target traffic prohibition sign can be determined by the image data of the target traffic prohibition sign and the direction of the road on which the acquisition vehicle travels when acquiring the image data of the target traffic prohibition sign. Usually, the acquisition vehicle will acquire the image data of the target traffic prohibition sign from the front during the driving process, and based on this principle, the orientation of the target traffic prohibition sign can be determined.

[0063] In some embodiments, the orientation of the target traffic prohibition sign can be represented based on the counterclockwise or clockwise angular value between the front orientation of the target traffic prohibition sign and a preset reference direction. For example, its orientation can be represented as the counterclockwise angular value with respect to the due north direction, etc.

[0064] In an optional implementation of this embodiment, the method further further includes the following steps:

[0065] Determine the included angle between the front orientation of the target traffic prohibition sign and its associated road;

[0066] Determine the effectiveness of the target traffic prohibition sign based on the magnitude of the included angle, so as to stop the next processing of the target traffic prohibition sign when the effectiveness of the target traffic prohibition sign does not meet the preset conditions.

[0067] In this optional implementation manner, after determining the attribute information of the target traffic prohibition sign, such as the associated road and / or intersection, orientation, etc., the judgment of abnormal scenarios can also be considered. For example, when the included angle between the orientation of the target traffic prohibition sign and the associated road (i.e., the road where the puncture point of the target traffic prohibition sign is located) is within a preset range, such as approximately perpendicular, the uncertainty of the target traffic prohibition sign is relatively high, and it may be an abandoned sign or a temporary sign. Therefore, the confidence level of the target traffic prohibition sign is relatively low and does not meet the preset conditions. Thus, the further processing of the target traffic prohibition sign can be stopped. Of course, in order to improve the accuracy of the final data, the data of the target traffic prohibition sign can also be recorded and subsequently provided to experienced personnel for the interpretation of the actual prohibition meaning.

[0068] Figure 3 FIG. shows an effect diagram of a target traffic prohibition sign with a low confidence level according to an embodiment of the present disclosure. As Figure 3 shown, when the included angle between the front orientation of the target traffic prohibition sign and the road where the puncture point of the target traffic prohibition sign is located is within a certain range, since the vehicles driving on the puncture road cannot see or can hardly see the content shown on the front of the target traffic prohibition sign, the confidence level of such a target traffic prohibition sign is relatively low, and it may be an abandoned or temporarily set sign. For a two-way puncture road, when the included angle is between [α, 180° - α] as shown in Figure 3 or between [180° + α, 360° - α], the target traffic prohibition sign is in an abnormal state and has a low confidence level; for a one-way puncture road, when the included angle is between [0, 180° - α] as shown in Figure 3 or between [180° + α, 360°], the target traffic prohibition sign is in an abnormal state and has a low confidence level.

[0069] In an optional implementation manner of this embodiment, step S101, that is, the step of determining the attribute information of the target traffic prohibition sign, further includes the following steps:

[0070] Identify the prohibition sign shown on the front of the target traffic prohibition sign and the auxiliary signs around the prohibition sign;

[0071] Based on the prohibition sign and the auxiliary signs, determine the prohibition information corresponding to the target traffic prohibition sign; the prohibition information includes one or more combinations of restricted actions, restricted times, and / or restricted objects.

[0072] In this optional implementation manner, the front of the target traffic prohibition sign usually shows a prohibition sign and auxiliary signs. The prohibition sign is usually used to show the actions restricted by the sign, and the auxiliary signs are usually used to show the restricted times, restricted objects such as vehicle types, etc. AsFigure 2 As shown, the prohibition sign of the target traffic prohibition sign is the left-turn and right-turn arrows with slashes in the upper circle, and the auxiliary sign is the truck and trailer below. From Figure 2 The shown prohibition sign, it can be determined that the restricted action shown by the target traffic prohibition sign is to prohibit left-turn or right-turn, and the restricted objects are trucks and trailers.

[0073] In an alternative implementation of this embodiment, the prohibition information includes restricted objects, and the method further includes the following steps:

[0074] Determine whether the restricted object in the prohibition information is consistent with the application object of the map data, so as to stop the next processing of the target traffic prohibition sign in case of inconsistency.

[0075] In this alternative implementation, the prohibition information may include but is not limited to restricted actions, restricted times, and / or restricted objects. Generally, the application object of the high-precision map is intelligent driving vehicles. When the restricted object corresponding to the target traffic prohibition sign is not an intelligent driving vehicle, such as a non-motor vehicle, at this time, the target traffic prohibition sign is invalid for intelligent driving vehicles. Therefore, the next processing of the target traffic prohibition sign can be stopped.

[0076] In an alternative implementation of this embodiment, step S103, that is, the step of identifying the actual prohibition meaning of the target traffic prohibition sign at the current position based on the attribute information, prohibition information, and road data in the map data, further includes the following steps:

[0077] Determine the acting intersection of the target traffic prohibition sign based on the attribute information, prohibition information, and the road data;

[0078] Determine the relative position relationship between the target traffic prohibition sign and the acting intersection based on the puncture point position of the target traffic prohibition sign; the relative position relationship includes inside the intersection, in front of the intersection, behind the intersection, or in the middle of the road section;

[0079] Determine the associated reference elements of the target traffic prohibition sign; the associated reference elements include other map elements that have an impact on the actual prohibition meaning of the target traffic prohibition sign;

[0080] Determine the actual prohibition meaning of the target traffic prohibition sign based on the prohibition information, the acting intersection, the relative position relationship, and the associated reference elements.

[0081] In this optional implementation, the intersection affected by the target traffic prohibition sign can be determined based on the attribute information of the target traffic prohibition sign, such as the associated road, the associated intersection, and road data, that is, which intersection the target traffic prohibition sign affects can be determined. If the attribute information of the target traffic prohibition sign includes the associated intersection, it can be determined whether the associated intersection is the intersection affected by the target traffic prohibition sign by judging the attributes of the associated intersection, the prohibition information of the target traffic prohibition sign, and the road data. If the attribute information of the target traffic prohibition sign includes the associated road, it can be determined whether the intersection associated with the associated road is the intersection affected by the target traffic prohibition sign. When judging the affected intersection, the rationality of traffic rules can be considered to exclude unreasonable intersections, so as to obtain reasonable affected intersections.

[0082] After determining the affected intersection, the relative position relationship between the target traffic prohibition sign and the affected intersection can also be determined based on the relative position of the puncture point of the target traffic prohibition sign from the affected intersection, such as the distance, before the intersection, after the intersection, or within the intersection. The relative position relationship may include, but is not limited to, within the intersection, before the intersection, after the intersection, or on a road section. A road section can be understood as that the target traffic prohibition sign is far from the affected intersection and is on a road section.

[0083] Since the actual prohibition meaning of the target traffic prohibition sign is not only related to the prohibition information shown on itself, but also related to other road elements on the road, other map elements that affect the target traffic prohibition sign can be found from the map data and used as the associated reference elements of the target traffic prohibition sign. For example, the prohibition information shown on the target traffic prohibition sign is to restrict vehicles from making a U-turn at the current intersection, but there is a broken and solid line allowing "left U-turn" in the left-turn direction. In this case, the prohibition meaning of "left U-turn" needs to be cancelled in the actual prohibition meaning of the target traffic prohibition sign. At this time, the broken and solid line allowing "left U-turn" is the associated reference element of the target traffic prohibition sign.

[0084] Finally, the actual prohibition meaning of the target traffic prohibition sign can be determined based on the prohibition information, the affected intersection, the relative position relationship with the affected intersection, and the associated reference elements. The actual prohibition meaning needs to conform to the existing traffic rules. Therefore, when deriving the actual prohibition meaning, it is necessary to derive based on the existing traffic rules. In some embodiments, the actual prohibition meaning may include, but is not limited to, the affected road, restricted actions, restricted time, restricted objects, and / or other database associated data, etc.

[0085] In some embodiments, the actual affected intersection of the target traffic prohibition sign can be derived based on the prohibition information, the affected intersection, the relative position relationship with the affected intersection, and the associated reference elements, and then the actual prohibition meaning can be formed based on the information combination in the prohibition information.

[0086] In an alternative implementation of this embodiment, the step of determining the intersection where the target traffic prohibition sign takes effect based on the attribute information, the prohibition information, and the road data further includes the following steps:

[0087] Determine candidate intersections where the target traffic prohibition sign takes effect based on the attribute information and the road data;

[0088] Determine whether the candidate intersection is the intersection where the sign takes effect based on the attribute information of the candidate intersection and the attribute information of the road where the puncture point of the target traffic prohibition sign is located.

[0089] In this alternative implementation, as described above, based on the associated road or intersection of the target traffic prohibition sign in the attribute information, candidate intersections can be determined. Candidate intersections can be, for example, associated intersections, intersections corresponding to associated roads, etc.

[0090] The attribute information of the candidate intersection can be information related to the driving actions of the driving object, such as whether it is a dedicated U-turn intersection, whether a left turn is allowed, whether it is an up-and-down through intersection, the connected roads, and the number of connected roads. The attribute information of the roads connected to the candidate intersection can include, but is not limited to, information such as the road grade.

[0091] It is possible to determine whether the target traffic prohibition sign is applicable to the candidate intersection based on the attribute information of the candidate intersection and the attribute information of the connected roads. If it is applicable to the candidate intersection, it can be determined that the candidate intersection is the intersection where the target traffic prohibition sign takes effect; otherwise, the candidate intersection is not the intersection where the target traffic prohibition sign takes effect.

[0092] The following is an example.

[0093] When the candidate intersection is an up-and-down through intersection (i.e., it is connected to three or more lanes on one side), and the candidate intersection is not a dedicated U-turn intersection and is not an intersection that only connects low-grade roads (such as alleys), it can be determined that the candidate intersection is the intersection where the sign takes effect.

[0094] When the candidate intersection is not a through intersection for both the upstream and downstream directions, it is possible to further determine the road level where the stamping point of the target traffic prohibition sign is located. If the road level where the stamping point of the target traffic prohibition sign is located is relatively low (for example, lower than non-urban arterial roads, non-urban sub-arterial roads, etc.), and the road where the stamping point is located is not a road connecting the access control, not a functional road, nor an internal road (such as a road inside a building area), and the candidate intersection is connected to at least three roads (that is, the candidate intersection is at least a T-shaped intersection), then the candidate intersection can be determined as the effective intersection; while when the road level where the stamping point of the target traffic prohibition sign is located is relatively high, and the candidate intersection is not a road connecting the access control, not a functional road, nor an internal road and a low-level road, if the candidate intersection is connected to at least three roads, then the candidate intersection can be determined as the effective intersection.

[0095] In an alternative implementation of this embodiment, the step of determining the relative position relationship between the target traffic prohibition sign and the effective intersection based on the stamping point position of the target traffic prohibition sign further includes the following steps:

[0096] If the stamping point position is within the effective range of the effective intersection, it is determined that the target traffic prohibition sign is within the intersection of the effective intersection;

[0097] If the stamping point position is not within the effective range of the effective intersection, based on the distance between the stamping point position and the effective intersection and the position relative to the effective intersection, it is determined that the target traffic prohibition sign is in front of the intersection, behind the intersection or in the section of the effective intersection.

[0098] In this alternative implementation, the relative position relationship between the target traffic prohibition sign and the effective intersection can be determined based on the position relationship between the stamping point position of the target traffic prohibition sign and the effective intersection.

[0099] The effective range of the effective intersection can be determined in advance. If the stamping point position of the target traffic prohibition sign is within the effective range of the effective intersection, it can be determined that the relative position relationship between the target traffic prohibition sign and the effective intersection is within the intersection.

[0100] If the stamping point position of the target traffic prohibition sign is not within this effective range, then the target traffic prohibition sign is not within the intersection of the effective intersection, but in front of the intersection, behind the intersection or in the section, and specifically, it needs to be judged according to the distance between the stamping point position of the target traffic prohibition sign and the effective intersection and the relative position, etc.

[0101] Figure 4 Shows a flowchart for judging the relative position relationship between the target traffic prohibition sign and the effective intersection in an embodiment of the present disclosure. As Figure 4As shown, when the puncture point position of the target traffic prohibition sign is within the effective range of the effective intersection, that is, the functional intersection, it is determined that the relative position relationship is within the intersection. Otherwise, it is determined whether the effective range of the functional intersection can be found after moving forward and backward L0 meters from the puncture point position. If the effective range of the functional intersection cannot be found within the forward and backward L0 meters, it can be considered that the relative functional relationship is in the section.

[0102] If the effective range of the functional intersection A can be found after moving forward L0 meters, but cannot be found after moving backward L0 meters, it is further determined whether the distance between the puncture point position of the target traffic prohibition sign and the functional intersection A is less than or equal to L2 meters. If it is less than or equal to, it is determined that the relative position relationship between the target traffic prohibition sign and the functional intersection A is in front of the intersection; if the distance between the puncture point position of the target traffic prohibition sign and the functional intersection A is greater than L2 meters, it is determined that the relative position relationship is in the section.

[0103] If the effective range of the functional intersection cannot be found after moving forward L0 meters, but can be found after moving backward L0 meters to the functional intersection B, it is further determined whether the distance between the puncture point position of the target traffic prohibition sign and the functional intersection B is less than or equal to L1 meters. If it is less than or equal to, it is determined that the relative position relationship between the target traffic prohibition sign and the functional intersection B is behind the intersection; if the distance between the puncture point position of the target traffic prohibition sign and the functional intersection B is greater than L2 meters, it is determined that the relative position relationship is in the section.

[0104] If the effective ranges of the functional intersections (in this case, there can be two functional intersections, denoted as A and B) can be found within the forward and backward L0 meters, it is determined whether the distance between the functional intersection A and the functional intersection B is greater than L3. If it is not greater than L3 meters, it is determined whether the target traffic prohibition sign is closer to the functional intersection B. If so, it is determined that the target traffic prohibition sign is behind the intersection, otherwise it is determined that the target traffic prohibition sign is in front of the intersection.

[0105] If the distance between the functional intersection A and the functional intersection B is greater than L3 meters, it is determined whether the target traffic prohibition sign is closer to the functional intersection B. If not, it is determined whether the distance between the target traffic prohibition sign and the functional intersection A is less than or equal to L2 meters. If so, it is determined that the target traffic prohibition sign is in front of the intersection, otherwise it is determined that the target traffic prohibition sign is in the section.

[0106] If the target traffic prohibition sign is closer to the functional intersection B, it is further determined whether the distance between the target traffic prohibition sign and the functional intersection B is less than L1 meters. If so, it is determined that the target traffic prohibition sign is behind the intersection, otherwise it is determined that the target traffic prohibition sign is in the section.

[0107] In an alternative implementation of this embodiment, the method further comprises the following steps:

[0108] Determine the confidence level of the target traffic prohibition sign based on the puncture point position of the target traffic prohibition sign on the associated road, the prohibited information, and the affected intersection, so as to stop the next processing of the target traffic prohibition sign when it is determined that the confidence level of the target traffic prohibition sign is lower than the threshold.

[0109] In this alternative implementation, the judgment of abnormal scenarios can also be considered before deriving the actual prohibition of the target traffic prohibition sign. The handling of abnormal scenarios aims to screen out some scenarios where the on-site signs are unreasonable or the input data is incorrect through policy rules, to avoid incorrect data from entering the map data. For example, when the road chain distance between the prohibited U-turn sign and the affected intersection is greater than a certain length, such as 100 meters, it mostly indicates that a U-turn is not allowed at the pedestrian intersection. Therefore, there is no need to search forward for the corresponding affected intersection based on the prohibited U-turn sign. In this scenario, it can be considered that the confidence level of the prohibited U-turn sign is low and further processing can be done. In some embodiments, this data can be recorded for subsequent manual verification.

[0110] Therefore, in this embodiment, the confidence level of the target traffic prohibition sign can be determined based on the puncture point position of the target traffic prohibition sign on the associated road, the prohibited information, and the affected intersection, so as to stop the next processing of the target traffic prohibition sign when it is determined that the confidence level of the target traffic prohibition sign is lower than the threshold.

[0111] In an alternative implementation of this embodiment, step S104, that is, the step of generating the relevant attributes of the affected road in the map data based on the actual prohibition meaning, further comprises the following steps:

[0112] Compare the actual prohibition meaning of the target traffic prohibition sign with the existing information in the map data;

[0113] Generate the relevant attributes of the road in the map data based on the comparison result, so as to reflect the actual prohibition meaning of the target traffic prohibition sign in the relevant attributes of the map data road.

[0114] In this alternative implementation, there may already be relevant information about the target traffic prohibition sign in the map data, and this information may be the same as or different from the actual prohibition meaning derived this time.

[0115] In this embodiment, the actual prohibited meaning of the target traffic prohibition sign can be compared with the existing information in the map data. For example, it can be compared with the attribute information of the road where the target traffic prohibition sign acts. If the existing information in the existing map data already contains the actual prohibited information, corresponding road data can be generated without updating the map data. However, if the existing information does not contain the actual prohibited meaning of the target traffic prohibition sign, or the contained information is different from the actual prohibited meaning, the map data can be updated by generating road data of the acting road, etc., so as to reflect the actual prohibited meaning of the target traffic prohibition sign in the map data.

[0116] In some embodiments, for the target traffic prohibition sign, there may be a situation where the actual prohibited meaning is repeated or repeated with the existing information in the map data. The following repeated fusion processing can be performed, and the principles are as follows:

[0117] Perform data information deduplication on the derived actual prohibited meaning: If there are multiple identical actual prohibited meanings of the roads where the same target traffic prohibition sign acts under the same action type, one of the repeated actual prohibited meanings can be selected to continue the fusion judgment, and the remaining repeated actual prohibited meanings are set to invalid; When there are multiple actual prohibited meanings of the roads where the same target traffic prohibition sign acts under the same action type, if there is an inclusion relationship among these actual prohibited meanings, the one with the largest coverage range is selected as the actual prohibited meaning, and the included actual prohibited meaning is set to invalid.

[0118] When the acting road and its corresponding restricted direction are included in the existing information in the map data, and the derived actual prohibited meaning is exactly the same as the attribute field of the acting road in the map data, the actual prohibited meaning of the target traffic prohibition sign is screened out.

[0119] In an alternative implementation manner of this embodiment, the step of comparing the actual prohibited meaning of the target traffic prohibition sign with the existing information in the map data further includes the following steps:

[0120] Based on the different action types of the acting roads in the actual prohibited meaning of the target traffic prohibition sign, the actual prohibited meaning is compared with the attribute information of the acting roads in the map data in different ways.

[0121] In this optional implementation, the roads affected by the target traffic prohibition sign in the map data can be classified according to the type of impact of the target traffic prohibition sign. For example, they can be divided into turning-relationship-type affected roads, entering-section-type affected roads, and path-type affected roads. The turning-relationship-type affected roads can be understood as the target traffic prohibition sign restricting the turning relationship of the affected road. The entering-section-type affected roads can be understood as the target traffic prohibition sign restricting whether the road can be entered. The path-type affected roads can be understood as restricting one or more of the roads involving multiple paths (for example, the target traffic prohibition sign restricts that this road can turn right, but cannot enter the path to a certain destination after turning right).

[0122] Affected roads of different impact types can be expressed in different forms in the map data. Therefore, different comparison methods can be used to compare with the existing data in the map data according to the different types of affected roads.

[0123] The following is an example to illustrate an implementation method of comparison, as shown in Table 1 below.

[0124] Table 1:

[0125]

[0126] In Table 1 above, there are three types of comparison results: new, modified / verified, and to be confirmed. When the comparison result is new, the actual prohibited meaning of the target traffic prohibition sign can be added to the map data in the form of the road attributes of the affected road. When the comparison result is modified / verified, the existing information in the map data is modified to reflect the actual prohibited meaning of the target traffic prohibition sign. Of course, the actual prohibited meaning of the target traffic prohibition sign can also be marked as to be confirmed and enter the manual verification process. When the comparison result is to be confirmed, the actual prohibited meaning of the target traffic prohibition sign can be directly marked as to be confirmed and enter the manual verification process.

[0127] As can be seen from Table 1, the comparison methods are different for affected roads of different impact types. For example, for turning-relationship-type affected roads, it can be checked whether there is "sign-type prohibited information", "actually collected prohibited information", or "non-actually collected prohibited information" in the existing information of the map data. For example, whether the sign-type prohibited information, the prohibited information actually collected manually, or the prohibited information obtained through other channels rather than actual collected data is reflected in the road attributes of the affected road of the target traffic prohibition sign, etc.

[0128] For entering-section-type affected roads, it is checked whether there is "sign-type prohibited information", "actually collected prohibited information", or "non-actually collected prohibited information" in the existing information of the map data where the "section prohibition type, the roads in the line group, and the restricted directions are the same".

[0129] For the path-type function road, check whether there is "sign-type prohibited information", "actual acquisition prohibited information", or "non-actual acquisition type prohibited information" of "the same path (including direction)" in the existing information of the map data.

[0130] Based on different comparison results, different methods are used to generate the road data in the map data or update the existing information in the map data.

[0131] According to a location-based service providing method of an embodiment of the present disclosure, the location-based service providing method provides a location-based service for the service object by using the road-related attributes generated by the above road data generation method; the location-based service includes one or more of navigation, map rendering, and route planning.

[0132] In this embodiment, the location-based service providing method can be executed on a location service terminal, and the location service terminal is a mobile phone, ipad, computer, smart watch, vehicle-mounted device, etc. In the embodiment of the present disclosure, during the production or update of the high-precision map, the actual prohibited meaning of the traffic prohibition sign can be added to the high-precision map data. After the high-precision map data can be provided to the navigation server or the location service terminal, the navigation server or the location service terminal provides a location-based service for the service object based on the actual prohibited meaning reflected in the road attributes. For example, when planning a path, the infeasible path is excluded based on the actual prohibited meaning of the traffic prohibition sign, the navigation action is output based on the actual prohibited meaning of the traffic prohibition sign during navigation, and the actual prohibited meaning of the traffic prohibition sign is rendered on the map when rendering the map.

[0133] The service object can be a mobile phone, ipad, computer, smart watch, autonomous vehicle, robot, etc. The server can add the road attributes obtained by the above method to the high-precision map data. When the location service terminal navigates, plans a path, or renders the road on the map for the service object, it outputs a navigation action based on the road attributes in the high-precision map data. For specific details, reference can be made to the description of the above road attribute generation method, which will not be elaborated here.

[0134] Figure 5 Shows a schematic diagram of the navigation process of an autonomous vehicle according to an embodiment of the present disclosure. As Figure 5 shown, the data server can maintain high-precision map data. As described above, in the high-precision map data, road data reflecting the actual prohibited meaning of the traffic prohibition sign can be generated. The data server can provide the produced high-precision map data to the navigation server.

[0135] During the intelligent driving process of an intelligent driving vehicle, a navigation server may provide the high-precision map data to an in-vehicle device on the intelligent driving vehicle, and the in-vehicle device generates intelligent driving instructions for the vehicle based on the high-precision map data to control the intelligent driving vehicle to perform corresponding driving actions on the premise of not violating the instructions indicated by traffic prohibition signs during driving.

[0136] The following is an embodiment of the apparatus of the present disclosure, which can be used to execute the embodiment of the method of the present disclosure.

[0137] Figure 6 The structural block diagram of a generating device for road attributes according to an embodiment of the present disclosure is shown. This device can be implemented as part or all of an electronic device through software, hardware, or a combination of both. As Figure 6 shown, the generating device for road attributes includes:

[0138] A first determination module 601, configured to determine the attribute information of a target traffic prohibition sign;

[0139] A second determination module 602, configured to determine the prohibited information shown on the target traffic prohibition sign;

[0140] A derivation module 603, configured to identify the actual prohibited meaning of the target traffic prohibition sign at the current position based on the attribute information, prohibited information, and road data in the map data; wherein, the actual prohibited meaning includes the road where the target traffic prohibition sign takes effect and restriction-related information;

[0141] A generation module 604, configured to generate relevant attributes of the road where the target traffic prohibition sign takes effect in the map data based on the actual prohibited meaning.

[0142] In this embodiment, the generating device for road attributes can be executed on a server. The target traffic prohibition sign can be any one or more traffic signs that restrict the driving behavior of driving objects on the road. For example, it can be traffic signs such as no left turn, no right turn, no U-turn, no passage for a certain type of vehicle, etc.

[0143] The attribute information of the target traffic prohibition sign may include, but is not limited to, the associated road, associated intersection, orientation, etc. of the target traffic prohibition sign. In some embodiments, the associated road and associated intersection of the target traffic prohibition sign can be determined based on the punching point position (i.e., the position on the actual road) of the target traffic prohibition sign on the actual road being on a certain road or at a certain intersection. If the target traffic prohibition sign stands alone on the road, then this road is the associated road of the target traffic prohibition sign, and if the target traffic prohibition sign stands on the traffic light at the intersection, then this intersection is the associated intersection of the target traffic prohibition sign. The associated road and associated intersection of the target traffic prohibition sign can be represented by the identifiers of the associated road and associated intersection in the map data.

[0144] The orientation of the target traffic prohibition sign can be determined by the image data of the target traffic prohibition sign and the direction of the road on which the vehicle collecting the image data of the target traffic prohibition sign is traveling. Usually, the vehicle will collect the image data of the target traffic prohibition sign from the front during driving, and based on this principle, the orientation of the target traffic prohibition sign can be determined.

[0145] In some embodiments, the orientation of the target traffic prohibition sign can be represented by the counterclockwise or clockwise angle value between the front orientation of the target traffic prohibition sign and a preset reference direction. For example, its orientation can be represented as the counterclockwise angle value with respect to the due north direction, etc.

[0146] When collecting road data, the image data of the target traffic prohibition sign can be collected, and target recognition is performed on the image data of the target traffic prohibition sign, and the prohibition information shown on the target traffic prohibition sign can be obtained. The target recognition method of the image can refer to the existing technology and will not be elaborated here.

[0147] In some embodiments, the prohibition information may include, but is not limited to, the restricted actions, restricted vehicle types, restricted time, etc. shown on the image of the target traffic prohibition sign. According to the actual traffic rules, the prohibition information of the target traffic prohibition sign needs to be understood in combination with the actual road conditions. Here, only the prohibition information shown on the target traffic prohibition sign is identified through image recognition, and then the actual prohibition meaning when the target traffic prohibition sign is at the current position, that is, the current associated road or intersection, can be deduced by combining the determined attribute information of the target traffic prohibition sign and the road data in the map data.

[0148] The road data in the map data includes various road-related information such as each road in the predetermined area and the attributes of each road. For example, the road data may include road identifiers, road names, associated elements of the road, driving directions of the road, lane information, etc. The associated elements of the road may include various traffic signs (including traffic prohibition signs) set on the road, direction signs on the road, road edges, lane lines, traffic lights, utility poles, and other elements.

[0149] After determining the attribute information and prohibition information of the target traffic prohibition sign, the actual prohibition meaning when the target traffic prohibition sign is at the current position can be deduced based on the attribute information, prohibition information, and the existing road data in the map data. The actual prohibition meaning can be understood as the traffic restriction rules that a driving object such as a vehicle needs to abide by when driving to the target traffic prohibition sign. The actual prohibition meaning may be the same as or different from the prohibition information directly recognized from the image on the target traffic prohibition sign, mainly depending on the actual road conditions of the current position where the target traffic prohibition sign is located.

[0150] For example, the prohibition information shown by the target traffic prohibition sign is to restrict vehicles from turning around at the current intersection, but a virtual and real line is set in the left turn direction to allow "left turn". At this time, the prohibition meaning of "left turn" needs to be cancelled in the actual prohibition meaning of the target traffic prohibition sign. For another example, when the prohibition information shown by the target traffic prohibition sign is to restrict the passage of non-motorized vehicles, and the application party of the map data is motor vehicles, the prohibition information of the target traffic prohibition sign is invalid content, and the target traffic prohibition sign may not be reflected in the map data.

[0151] Therefore, in the embodiment of the present disclosure, after determining the attribute information of the target traffic prohibition sign based on the data collected on the road and the prohibition information directly identified from the image of the target traffic prohibition sign, it is necessary to deduce the actual prohibition meaning of the target traffic prohibition sign when it is in the current position from the prohibition information based on the attribute information such as associated roads, associated intersections and / or directions and in combination with the road data.

[0152] The actual prohibition meaning may include but is not limited to the effective roads and restriction related information of the target traffic prohibition sign; the restriction related information may include but is not limited to the restricted action, effective vehicle model, effective time and other database management information of the target traffic prohibition sign. The effective roads may include, for example, the roads on which the prohibition information of the target traffic prohibition sign is effective; the restricted actions include the restriction information of the turning relationship, the entry section and the turning path of the effective roads; the effective vehicle model may include the restricted vehicle model, vehicle size, load, etc.; other database management information may include but is not limited to the information such as the data generation time.

[0153] After the actual prohibition meaning of the target traffic prohibition sign is derived, the actual prohibition meaning can be stored in the map data as a road attribute of the effective road, so that when the driving object is subsequently navigated, the path can be planned based on the attribute information, navigation information can be output, etc. For example, road A includes an attribute generated based on the actual prohibition meaning of the target traffic prohibition sign: left turn is restricted at the associated intersection B; when planning a path involving road A, the possibility of left turn at the associated intersection B needs to be excluded.

[0154] In the embodiments of the present disclosure, for a target traffic prohibition sign on a road, its attribute information and the prohibition information shown on the front of the sign are determined, and based on the attribute information, the prohibition information, and the road data, the actual prohibition meaning of the target traffic prohibition sign at the current position is deduced. Furthermore, based on the actual prohibition meaning, relevant attributes of the road acting in the map data are generated. Through the embodiments of the present disclosure, the actual prohibition meaning of the target traffic prohibition sign can be automatically deduced according to the entity information of the target traffic prohibition sign, and then based on the actual prohibition meaning, the road data of the relevant road is generated, which can reduce the degree of dependence on manual work in map production, improve the automated production ability of map data, and at the same time enrich the road attributes, providing a more accurate data basis for the location service system.

[0155] In an alternative implementation of this embodiment, the first determination module includes:

[0156] The first determination sub-module is configured to determine the associated road or intersection of the target traffic prohibition sign based on the puncture point position of the target traffic prohibition sign;

[0157] The second determination sub-module is configured to determine the angle value between the front orientation of the target traffic prohibition sign and a predetermined reference direction.

[0158] In this alternative implementation, as described above, the attribute information of the target traffic prohibition sign may include, but is not limited to, the associated road, intersection, orientation, etc. of the target traffic prohibition sign. In some embodiments, the associated road and intersection of the target traffic prohibition sign can be determined based on the puncture point position of the target traffic prohibition sign on the actual road (i.e., its position on the actual road) being on a certain road or at a certain intersection. If the target traffic prohibition sign stands alone on the road, then this road is the associated road of the target traffic prohibition sign, and if the target traffic prohibition sign stands on the traffic light at the intersection, then this intersection is the associated intersection of the target traffic prohibition sign. The associated road and intersection of the target traffic prohibition sign can be represented by the identifiers of the associated road and intersection in the map data.

[0159] The orientation of the target traffic prohibition sign can be determined by the image data of the target traffic prohibition sign and the direction of the road on which the vehicle collecting the image data of the target traffic prohibition sign is traveling. Usually, the vehicle collecting the data will collect the image data of the target traffic prohibition sign from the front during driving, and based on this principle, the orientation of the target traffic prohibition sign can be determined.

[0160] In some embodiments, the orientation of the target traffic prohibition sign can be represented by the counterclockwise or clockwise angle value between the front orientation of the target traffic prohibition sign and a preset reference direction. For example, its orientation can be represented as the counterclockwise angle value with respect to the due north direction, etc.

[0161] In an alternative implementation of this embodiment, the device further includes:

[0162] A third determination module, configured to determine the included angle between the front orientation of the target traffic prohibition sign and its associated road;

[0163] A fourth determination module, configured to determine the confidence level of the target traffic prohibition sign based on the magnitude of the included angle, so as to stop the next processing of the target traffic prohibition sign when the confidence level of the target traffic prohibition sign does not meet the preset conditions.

[0164] In this alternative implementation, after determining the attribute information of the target traffic prohibition sign, such as the associated road and / or intersection, orientation, etc., the judgment of abnormal scenarios can also be considered. For example, when the included angle between the orientation of the target traffic prohibition sign and the associated road (i.e., the road where the puncture point of the target traffic prohibition sign is located) is within a preset range, such as approximately perpendicular, the uncertainty of the target traffic prohibition sign is relatively high, and it may be an abandoned sign or a temporary sign. Therefore, the confidence level of the target traffic prohibition sign is relatively low and does not meet the preset conditions, so the further processing of the target traffic prohibition sign can be stopped. Of course, in order to improve the accuracy of the final data, the data of the target traffic prohibition sign can also be recorded and then provided to experienced personnel for actual interpretation of the prohibited meaning.

[0165] In an alternative implementation of this embodiment, the second determination module includes:

[0166] An identification sub-module, configured to identify the prohibition sign shown on the front of the target traffic prohibition sign to determine the restricted action shown by the target traffic prohibition sign, and to identify the auxiliary signs around the prohibition sign to determine one or more combinations of the restricted time and / or restricted object shown by the target traffic prohibition sign.

[0167] In this alternative implementation, the front of the target traffic prohibition sign usually shows a prohibition sign and auxiliary signs. The prohibition sign is usually used to show the restricted action of the sign, while the auxiliary signs are usually used to show the restricted time, restricted object such as vehicle type, etc. As Figure 2 shown, the prohibition sign of this target traffic prohibition sign is the left-turn and right-turn arrows with a slash in the upper circle, and the auxiliary signs are the truck and semi-trailer below. From Figure 2 the shown prohibition sign, it can be determined that the restricted action shown by this target traffic prohibition sign is to prohibit left-turn or right-turn, and the restricted objects are trucks and semi-trailers.

[0168] In an alternative implementation of this embodiment, the prohibited information includes a restricted object, and the device further includes:

[0169] A fifth determination module, configured to determine whether the restricted object in the prohibited information is consistent with the application object of the map data, so as to stop the next processing of the target traffic prohibition sign in case of inconsistency.

[0170] In this optional implementation, the prohibited information may include, but is not limited to, restricted actions, restricted time, and / or restricted objects. Generally, the application object of a high-precision map is an intelligent driving vehicle. When the restricted object corresponding to the target traffic prohibition sign is not an intelligent driving vehicle, for example, a non-motor vehicle, the target traffic prohibition sign is invalid for the intelligent driving vehicle at this time. Therefore, the next processing of the target traffic prohibition sign can be stopped.

[0171] In an optional implementation of this embodiment, the derivation module includes:

[0172] A third determination sub-module, configured to determine the action intersection of the target traffic prohibition sign based on the attribute information, the prohibited information, and the road data;

[0173] A fourth determination sub-module, configured to determine the relative position relationship between the target traffic prohibition sign and the action intersection based on the punching point position of the target traffic prohibition sign; the relative position relationship includes within the intersection, in front of the intersection, behind the intersection, or in the middle of a road section;

[0174] A fifth determination sub-module, configured to determine the associated reference elements of the target traffic prohibition sign; the associated reference elements include other map elements that affect the actual prohibited meaning of the target traffic prohibition sign;

[0175] A sixth determination sub-module, configured to determine the actual prohibited meaning of the target traffic prohibition sign based on the prohibited information, the action intersection, the relative position relationship, and the associated reference elements.

[0176] In this optional implementation, the intersection where the target traffic prohibition sign takes effect can be determined based on the attribute information of the target traffic prohibition sign, such as the associated road, the associated intersection, and the road data, that is, to determine which intersection the target traffic prohibition sign acts on. If the attribute information of the target traffic prohibition sign includes the associated intersection, it can be determined whether the associated intersection is the action intersection of the target traffic prohibition sign by judging the attributes of the associated intersection, the prohibited information of the target traffic prohibition sign, and the road data. If the attribute information of the target traffic prohibition sign includes the associated road, it can be determined whether the intersection associated with the associated road is the action intersection of the target traffic prohibition sign. When judging the action intersection, the rationality of traffic rules can be considered to exclude unreasonable intersections, so as to obtain reasonable action intersections.

[0177] After determining the effective intersection, the relative position of the target traffic prohibition sign with respect to the effective intersection can also be determined based on the relative position of the punching point of the target traffic prohibition sign from the effective intersection, such as information on distance, in front of the intersection, behind the intersection, or within the intersection. The relative position relationship may include, but is not limited to, within the intersection, in front of the intersection, behind the intersection, or on a road segment. A road segment can be understood as the target traffic prohibition sign being relatively far from the effective intersection and being on a road segment.

[0178] Since the actual prohibition meaning of the target traffic prohibition sign is not only related to the prohibited information shown on itself, but also related to other road elements on the road, other map elements that affect the target traffic prohibition sign can be found from the map data and used as the associated reference elements of the target traffic prohibition sign. For example, the prohibited information shown on the target traffic prohibition sign is to restrict vehicle U-turns at the current intersection, but there is a broken and solid line allowing "left U-turn" in the left-turn direction. In this case, the prohibition meaning of "left U-turn" needs to be cancelled in the actual prohibition meaning of the target traffic prohibition sign. At this time, the broken and solid line allowing "left U-turn" is the associated reference element of the target traffic prohibition sign.

[0179] Finally, the actual prohibition meaning of the target traffic prohibition sign can be determined based on the prohibited information, the effective intersection, the relative position relationship with the effective intersection, and the associated reference elements. The actual prohibition meaning needs to comply with existing traffic rules. Therefore, when deriving the actual prohibition meaning, it is necessary to derive based on existing traffic rules. In some embodiments, the actual prohibition meaning may include, but is not limited to, the road in use, restricted actions, restricted time, restricted objects, and / or other database-related data, etc.

[0180] In some embodiments, the actual effective intersection of the target traffic prohibition sign can be derived based on the prohibited information, the effective intersection, the relative position relationship with the effective intersection, and the associated reference elements, and then the actual prohibition meaning can be formed based on the information combination in the prohibited information.

[0181] In an alternative implementation manner of this embodiment, the third determination sub-module includes:

[0182] A seventh determination sub-module, configured to determine candidate intersections where the target traffic prohibition sign takes effect based on the attribute information and the road data;

[0183] An eighth determination sub-module, configured to determine whether the candidate intersection is an effective intersection based on the attribute information of the candidate intersection and the attribute information of the road where the punching point of the target traffic prohibition sign is located.

[0184] In this optional implementation, as described above, based on the associated road or intersection of the target traffic prohibition sign in the attribute information, candidate intersections can be determined. The candidate intersections can be, for example, the associated intersection, the intersection corresponding to the associated road, etc.

[0185] The attribute information of the candidate intersection can be information related to the driving actions of the driving object, such as whether it is a dedicated U-turn intersection, whether a left turn is allowed, whether it is an up-down through intersection, the connected roads, and the number of connected roads. The attribute information of the roads connected to the candidate intersection can include, but is not limited to, information such as the road grade.

[0186] It is possible to determine whether the target traffic prohibition sign is applicable to the candidate intersection based on the attribute information of the candidate intersection and the attribute information of the connected roads. If it is applicable to the candidate intersection, the candidate intersection can be determined as the effective intersection of the target traffic prohibition sign; otherwise, the candidate intersection is not the effective intersection of the target traffic prohibition sign.

[0187] The following is an example for illustration.

[0188] When the candidate intersection is an up-down through intersection (i.e., it is connected to at least three lanes on one side), and the candidate intersection is not a dedicated U-turn intersection and is not an intersection that only connects low-grade roads (such as alleys), the candidate intersection can be determined as the effective intersection.

[0189] When the candidate intersection is not an up-down through intersection, it is possible to further determine the grade of the road where the stamping point of the target traffic prohibition sign is located. If the grade of the road where the stamping point of the target traffic prohibition sign is located is low (for example, lower than non-urban arterial roads, non-urban sub-arterial roads, etc.), and the road where the stamping point is located is not a road connecting to an access control, not a functional road, nor an internal road (such as a road inside a building area), and the candidate intersection is connected to at least three roads (i.e., the candidate intersection is at least a T-shaped intersection), the candidate intersection can be determined as the effective intersection; while when the grade of the road where the stamping point of the target traffic prohibition sign is located is high, and the candidate intersection is not a road connecting to an access control, not a functional road, nor an internal road and low-grade road, if the candidate intersection is connected to at least three roads, the candidate intersection can be determined as the effective intersection.

[0190] In an optional implementation of this embodiment, the fourth determination sub-module includes:

[0191] A ninth determination sub-module, configured to determine that the target traffic prohibition sign is within the intersection of the effective intersection if the stamping point is within the effective range of the effective intersection;

[0192] A tenth determination sub-module, configured to determine that the target traffic prohibition sign is in front of the intersection, behind the intersection, or in a section of the intersection based on the distance between the puncture point position and the intersection and the position relative to the intersection if the puncture point position is not within the effective range of the intersection.

[0193] In this optional implementation, the relative position relationship between the target traffic prohibition sign and the intersection can be determined based on the position relationship between the puncture point position of the target traffic prohibition sign and the intersection.

[0194] The effective range of the intersection can be determined in advance. If the puncture point position of the target traffic prohibition sign is within the effective range of the intersection, it can be determined that the relative position relationship between the target traffic prohibition sign and the intersection is within the intersection.

[0195] If the puncture point position of the target traffic prohibition sign is not within the effective range, then the target traffic prohibition sign is not within the intersection, but in front of the intersection, behind the intersection, or in a section. Specifically, it needs to be judged according to the distance between the puncture point position of the target traffic prohibition sign and the intersection and the relative position, etc.

[0196] In an optional implementation of this embodiment, the device further includes:

[0197] A sixth determination module, configured to determine the confidence level of the target traffic prohibition sign based on the puncture point position of the target traffic prohibition sign on the associated road, the prohibited information, and the intersection, so as to stop the next processing of the target traffic prohibition sign when it is determined that the confidence level of the target traffic prohibition sign is lower than a threshold.

[0198] In this optional implementation, the judgment of abnormal scenarios can also be considered before deriving the actual prohibition of the target traffic prohibition sign. The processing of abnormal scenarios is intended to screen out some scenarios where the actual signs are unreasonable or the input data is incorrect through policy rules, avoiding incorrect data from entering the map data. For example, when the road chain distance between the prohibited U-turn prohibition sign and the intersection is greater than a certain length, such as 100 meters, it mostly indicates that a U-turn is not allowed at the pedestrian intersection. Therefore, there is no need to search forward for the corresponding intersection based on the prohibited U-turn prohibition sign. Therefore, in this scenario, it can be considered that the confidence level of the prohibited U-turn prohibition sign is low and further processing can be done. In some embodiments, this data can be recorded for subsequent manual verification.

[0199] Therefore, in this embodiment, the confidence level of the target traffic prohibition sign can be determined based on the puncture point position of the target traffic prohibition sign on the associated road, the prohibited information, and the intersection, so as to stop the next processing of the target traffic prohibition sign when it is determined that the confidence level of the target traffic prohibition sign is lower than a threshold.

[0200] In an alternative implementation of this embodiment, the generating module includes:

[0201] A first comparison sub-module configured to compare the actual prohibited meaning of the target traffic prohibition sign with the existing information in the map data;

[0202] A generating sub-module configured to generate relevant attributes of the road in the map data based on the comparison result, so as to reflect the actual prohibited meaning of the target traffic prohibition sign in the relevant attributes of the road in the map data.

[0203] In this alternative implementation, there may already be relevant information about the target traffic prohibition sign in the map data, and this information may be the same as or different from the actual prohibited meaning deduced this time.

[0204] In this embodiment, the actual prohibited meaning of the target traffic prohibition sign can be compared with the existing information in the map data. For example, it can be compared with the attribute information of the road where the target traffic prohibition sign acts. If the existing information in the existing map data already contains this actual prohibited information, corresponding road data can be generated without updating the map data; if the existing information does not contain the actual prohibited meaning of the target traffic prohibition sign, or the information contained is different from this actual prohibited meaning, the map data can be updated by generating road data of the acting road, etc., so as to reflect the actual prohibited meaning of the target traffic prohibition sign in the map data.

[0205] In an alternative implementation of this embodiment, the first comparison sub-module includes:

[0206] A second comparison sub-module configured to compare the actual prohibited meaning with the attribute information of the acting road in the map data in different ways based on the different acting types of the acting road in the actual prohibited meaning of the target traffic prohibition sign.

[0207] In this alternative implementation, the acting roads of the target traffic prohibition sign in the map data can be classified according to the acting type of the target traffic prohibition sign. For example, they can be divided into turning-relationship type acting roads, entering-section type acting roads, and path type acting roads; the turning-relationship type acting roads can be understood as the target traffic prohibition sign restricting the turning relationship of the acting road, the entering-section type acting roads can be understood as the target traffic prohibition sign restricting whether the road can be entered, and the path type acting roads can be understood as restricting one or more of the roads involving multiple paths (for example, the target traffic prohibition sign restricts that this road can turn right, but cannot enter the path to a certain destination after turning right).

[0208] Function roads of different function types can be expressed in different forms in map data. Therefore, different comparison methods can be adopted to compare with the existing data in the map data according to the different function road types.

[0209] According to a location-based service providing device of an embodiment of the present disclosure, the location-based service providing device uses the road-related attributes generated by the above-mentioned road data generating device to provide location-based services for the service object; the location-based services include one or more of navigation, map rendering, and route planning.

[0210] In this embodiment, the location-based service providing device can be executed on a location service terminal, and the location service terminal is a mobile phone, an ipad, a computer, a smart watch, a vehicle-mounted device, etc. In the embodiment of the present disclosure, during the production or update of a high-precision map, the actual prohibited meaning of traffic prohibition signs can be added to the high-precision map data. After the high-precision map data is provided to a navigation server or a location service terminal, the navigation server or the location service terminal provides location-based services for the service object based on the actual prohibited meaning reflected in the road attributes. For example, when planning a route, the infeasible routes are excluded based on the actual prohibited meaning of traffic prohibition signs, when navigating, the navigation actions are output based on the actual prohibited meaning of traffic prohibition signs, and when rendering the map, the actual prohibited meaning of traffic prohibition signs is rendered on the map, etc.

[0211] The service object can be a mobile phone, an ipad, a computer, a smart watch, an autonomous vehicle, a robot, etc. The server can add the road attributes obtained by the above device to the high-precision map data. When the location service terminal navigates, plans a route or renders the roads on the map for the service object, navigation actions are output based on the road attributes in the high-precision map data. For specific details, reference can be made to the description of the road attribute generating device above, which will not be elaborated here.

[0212] Figure 7 It is a schematic structural diagram of an electronic device suitable for implementing the road attribute generation method and / or the location-based service providing method according to an embodiment of the present disclosure.

[0213] Such as Figure 7As shown, the electronic device 700 includes a processing unit 701, which can be implemented as a processing unit such as a CPU, GPU, FPGA, NPU, etc. The processing unit 701 can perform various processes in the implementation of any of the above methods of the present disclosure according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage section 708 into the random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 are also stored. The processing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. The input / output (I / O) interface 705 is also connected to the bus 704.

[0214] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed so that a computer program read from it can be installed into the storage section 708 as needed.

[0215] Specifically, according to an embodiment of the present disclosure, any of the above methods with reference to the embodiments of the present disclosure can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program tangibly contained on a machine-readable medium, and the computer program includes program code for performing any of the methods in the embodiments of the present disclosure. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 709, and / or installed from the removable medium 711.

[0216] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system that performs the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0217] The units or modules described in the embodiments of the present disclosure can be implemented in software or in hardware. The described units or modules can also be provided in a processor, and the names of these units or modules do not, in some cases, constitute a limitation on the units or modules themselves.

[0218] On the other hand, the present disclosure also provides a computer-readable storage medium, which can be the computer-readable storage medium included in the device described in the above embodiments; or it can exist separately and be a computer-readable storage medium not assembled into the device. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the methods described in the present disclosure.

[0219] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the invention involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the technical solutions formed by mutually replacing the above features with the (but not limited to) technical features having similar functions disclosed in the present disclosure.

Claims

1. A method for generating road attributes, wherein, Including: Determine the attribute information of the target traffic prohibition sign; Determine the prohibited information shown on the target traffic prohibition sign; Based on the attribute information, the prohibited information, and the road data in the map data, identify the actual prohibited meaning of the target traffic prohibition sign at the current location; wherein, the actual prohibited meaning includes the road where the target traffic prohibition sign takes effect and the restriction-related information; Generate the relevant attributes of the road where the target traffic prohibition sign takes effect in the map data based on the actual prohibited meaning; Among them, identifying the actual prohibited meaning of the target traffic prohibition sign at the current location based on the attribute information, the prohibited information, and the road data in the map data includes: Determine the intersection where the target traffic prohibition sign takes effect based on the attribute information, the prohibited information, and the road data; Determine the relative position relationship between the target traffic prohibition sign and the intersection where it takes effect based on the puncture point position of the target traffic prohibition sign; the relative position relationship includes within the intersection, in front of the intersection, behind the intersection, or in the middle of a section; Determine the associated reference elements of the target traffic prohibition sign; the associated reference elements include other map elements that affect the actual prohibited meaning of the target traffic prohibition sign; Determine the actual prohibited meaning of the target traffic prohibition sign based on the prohibited information, the intersection where it takes effect, the relative position relationship, and the associated reference elements.

2. The method according to claim 1, wherein, Determine the attribute information of the target traffic prohibition sign, including: Determine the associated road or intersection of the target traffic prohibition sign based on the puncture point position of the target traffic prohibition sign; Determine the angle value between the front orientation of the target traffic prohibition sign and a predetermined reference direction.

3. The method according to claim 2, wherein, The method further includes: Determine the included angle between the front orientation of the target traffic prohibition sign and its associated road; Determine the confidence level of the target traffic prohibition sign based on the size of the included angle, so as to stop the next processing of the target traffic prohibition sign when the confidence level of the target traffic prohibition sign does not meet the preset conditions.

4. The method according to any one of claims 1 to 3, wherein, Determine the prohibited information shown on the target traffic prohibition sign, including: Identify the prohibition sign shown on the front of the target traffic prohibition sign to determine the restricted action shown by the target traffic prohibition sign, and identify the auxiliary signs around the prohibition sign to determine one or more combinations of the restricted time and / or restricted object shown by the target traffic prohibition sign.

5. The method according to claim 1, wherein Determine the intersection where the target traffic prohibition sign takes effect based on the attribute information, the prohibited information, and the road data, including: Determine the candidate intersections where the target traffic prohibition sign takes effect based on the attribute information and the road data; Determine whether the candidate intersection is the intersection where it takes effect based on the attribute information of the candidate intersection and the attribute information of the road where the puncture point position of the target traffic prohibition sign is located.

6. The method according to claim 1, wherein Determine the relative position relationship between the target traffic prohibition sign and the intersection where it takes effect based on the puncture point position of the target traffic prohibition sign, including: If the puncture point position is within the effective range of the intersection where it takes effect, determine that the target traffic prohibition sign is within the intersection where it takes effect; If the puncture point position is not within the effective range of the action intersection, determine that the target traffic prohibition sign is in front of the intersection, behind the intersection, or in the road section of the action intersection based on the distance between the puncture point position and the action intersection and the position relative to the action intersection.

7. According to the method according to any one of claims 1-3, 5-6, wherein, Generate the relevant attributes of the action road in the map data based on the actual prohibited meaning, including: Compare the actual prohibited meaning of the target traffic prohibition sign with the existing information in the map data; Generate the relevant attributes of the road in the map data based on the comparison result, so as to reflect the actual prohibited meaning of the target traffic prohibition sign in the relevant attributes of the road in the map data.

8. A method for providing location-based services, which uses the relevant road attributes generated by the method according to any one of claims 1-7 to provide location-based services for the service object; the location-based services include one or more of navigation, map rendering, and route planning.

9. A generation device for road attributes, wherein, Including: A first determination module, configured to determine the attribute information of the target traffic prohibition sign; A second determination module, configured to determine the prohibited information shown on the target traffic prohibition sign; A derivation module, configured to identify the actual prohibited meaning of the target traffic prohibition sign at the current position based on the attribute information, prohibited information, and road data in the map data; wherein, the actual prohibited meaning includes the action road of the target traffic prohibition sign and restriction-related information; A generation module, configured to generate the relevant attributes of the action road in the map data based on the actual prohibited meaning; Among them, identifying the actual prohibited meaning of the target traffic prohibition sign at the current position based on the attribute information, prohibited information, and road data in the map data includes: Determine the action intersection of the target traffic prohibition sign based on the attribute information, prohibited information, and the road data; Determine the relative position relationship between the target traffic prohibition sign and the action intersection based on the puncture point position of the target traffic prohibition sign; the relative position relationship includes within the intersection, in front of the intersection, behind the intersection, or in the road section; Determine the associated reference elements of the target traffic prohibition sign; the associated reference elements include other map elements that affect the actual prohibited meaning of the target traffic prohibition sign; Determine the actual prohibited meaning of the target traffic prohibition sign based on the prohibited information, the action intersection, the relative position relationship, and the associated reference elements.

10. An electronic device, wherein, Including a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the method according to any one of claims 1-8.

11. A computer-readable storage medium having computer instructions stored thereon, characterized in that, When the computer instruction is executed by the processor, it implements the method steps according to any one of claims 1-8.

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