Data processing method and device, electronic equipment and computer storage medium

Abstract

Embodiments of the present application provide a data processing method and device, electronic equipment and computer storage medium. The data processing method comprises: determining a first lane group based on the road topology relationship and lane data of a road, wherein the first lane group comprises at least two adjacent and coplanar lanes; determining the coplanar relationship between the lanes according to the lane data of the two adjacent and coplanar lanes; and determining the topology attribute of the two adjacent and coplanar lanes according to the coplanar relationship between the lanes. The scheme provided by the embodiments of the present application can efficiently establish the lane topology relationship.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of geographic information, and particularly relate to a data processing method and device, electronic equipment and computer storage medium. BACKGROUND

[0002] With the evolution of electronic maps from standard (standard definition) maps to high-precision (high-definition) maps, electronic maps express the real world more and more finely. For example, a standard map does not express the topological relationship (traffic relationship) of a lane when expressing a road, that is, the standard map establishes a road topological relationship at the road level, while a high-precision map expresses the topological relationship of a lane, that is, the high-precision map establishes a road topological relationship at the lane level. Since an important application scenario of a high-precision map is lane-level navigation or intelligent driving or autonomous driving, etc., with the maturity of these application scenarios, the demand for high-precision maps is becoming more and more urgent. Therefore, how to efficiently establish a road topological relationship at the lane level and improve the production efficiency of high-precision maps is a problem that needs to be solved by those skilled in the art. SUMMARY

[0003] Therefore, embodiments of the present application provide a data processing scheme to at least partially solve the above problems.

[0004] According to a first aspect of embodiments of the present application, a data processing method is provided, comprising: determining a first lane group based on a road topological relationship of a road and lane data, wherein the first lane group comprises at least two front and rear adjacent and coplanar lanes; determining a coplanar relationship between lanes according to lane data of the two front and rear adjacent and coplanar lanes; and determining a topological attribute of the two front and rear adjacent and coplanar lanes according to the coplanar relationship between lanes.

[0005] According to a second aspect of embodiments of the present application, a data processing device is provided, comprising: a first determining module configured to determine a first lane group based on a road topological relationship of a road and lane data, wherein the first lane group comprises at least two front and rear adjacent and coplanar lanes; a second determining module configured to determine a coplanar relationship between lanes according to lane data of the two front and rear adjacent and coplanar lanes; and a third determining module configured to determine a topological attribute of the two front and rear adjacent and coplanar lanes according to the coplanar relationship between lanes.

[0006] According to a third aspect of embodiments of the present application, an electronic device is provided, comprising: a processor, a memory, a communication interface and a communication bus, the processor, the memory and the communication interface complete communication with each other through the communication bus; the memory is used to deposit at least one executable instruction, and the executable instruction makes the processor execute the corresponding operation of the data processing method as described in the first aspect.

[0007] According to a fourth aspect of the embodiments of the present application, a computer storage medium is provided, and the computer storage medium has stored thereon a computer program, and the computer program is executed by a processor to implement the data processing method according to the first aspect.

[0008] According to the data processing scheme provided by the embodiments of the present application, the first lane group is determined based on the road topology relationship and the lane data of the road, and the coplanar relationship between two lanes in the first lane group is determined according to the lane data, and then the topology attribute of the two lanes is determined, so as to comprehensively determine the road topology relationship and the lane data, efficiently establish the topology relationship at the lane level, and further improve the production efficiency of the high-definition map. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the embodiments of the present application, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0010] Figure 1A A step flow chart of a data processing method according to the first embodiment of the present application is shown in the figure.

[0011] Figure 1B A schematic diagram of a lane misalignment in the embodiment shown in the figure is shown in the figure. Figure 1A A schematic diagram of a lane misalignment in the embodiment shown in the figure is shown in the figure.

[0012] Figure 1C A schematic diagram of a lane misalignment in the embodiment shown in the figure is shown in the figure.

[0013] Figure 1D A schematic diagram of a lane misalignment in the embodiment shown in the figure is shown in the figure.

[0014] Figure 1E A schematic diagram of a lane misalignment in the embodiment shown in the figure is shown in the figure.

[0015] Figure 2A A step flow chart of a data processing method according to the second embodiment of the present application is shown in the figure.

[0016] Figure 2B A schematic diagram of a lane misalignment in the embodiment shown in the figure is shown in the figure. Figure 2A A schematic diagram of a lane misalignment in the embodiment shown in the figure is shown in the figure.

[0017] Figure 3 A structure block diagram of a data processing device according to the third embodiment of the present application is shown in the figure.

[0018] Figure 4 A structure schematic diagram of an electronic device according to the fourth embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0019] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some, but not all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art should belong to the scope of protection of the present application.

[0020] The specific implementation of the embodiments of the present application will be further described below with reference to the drawings of the embodiments of the present application.

[0021] Embodiment one

[0022] Referring to Figure 1A , a step flowchart of the data processing method of the first embodiment of the present application is shown.

[0023] In the present embodiment, the data processing method comprises the following steps:

[0024] Step S102: determining a first lane group based on road topological relations and lane data of the road.

[0025] In the present embodiment, the road topological relations include the connection relations between roads. The road topological relations can be topological relations established in advance based on actual road information. For example, road A (such as **Street) is connected with road B (such as **East Road).

[0026] The lane data includes but is not limited to: lanes included in the road, lane types, driving states of the lanes, validity attributes of the lanes, connection relations between the lanes (such as surface connection, point connection, etc.), lane lines related to the lanes, lane line types, lane line colors, etc.

[0027] The first lane group includes at least two lanes adjacent in front and back and coplanar. Among them, the two lanes in the first lane group are coplanar, that is, the cross sections of the two lanes have a bite part, that is, the two lanes are not separate lanes or merged lanes.

[0028] The separate lane refers to the bite of the lane line twice at the exit position of the lane, that is, the exit position of the separate lane is connected with another lane in a point connection manner, such as the connection of lane A2 and lane B3 shown in Figure 1B Similarly, the merged lane refers to the bite of the lane line twice at the entrance position of the lane, that is, the entrance position of the merged lane has a connected lane but no coplanar lane.

[0029] As shown in Figure 1BAs shown, the lane A1 and the lane B1 are coplanarly connected, thus they can constitute a first lane group. Similarly, the lane A2 and the lane B2 are coplanarly connected, thus they can also constitute a first lane group. The lane A2 and the lane B3 are point connected, i.e. the lane A2 belongs to a separated lane, thus the lane A2 and the lane B3 do not constitute a first lane group.

[0030] Step S104: determining the coplanar relationship between the two adjacent and coplanar lanes according to the lane data of the two lanes.

[0031] The coplanar relationship includes but is not limited to coincidence, inclusion and misplacement. The coincidence can be that the cross sections of the two adjacent lanes are completely coincident, as shown in FIG. 2A. Figure 1C The inclusion can be that the cross section of one of the two adjacent lanes is included by the cross section of the other lane, as shown in FIG. 2B. Figure 1D The misplacement can be that a part of the cross section of one of the two adjacent lanes intersects with the cross section of the other lane, as shown in FIG. 2C. Figure 1E

[0032] In one possible implementation, the leading cross section (i.e. the entry cross section) and the trailing cross section (i.e. the exit cross section) of a lane can be determined according to the positions of the lane lines of the lane indicated in the lane data, and then the coplanar relationship between the two adjacent lanes can be determined according to the position of the leading cross section of the front lane and the position of the trailing cross section of the rear lane.

[0033] Step S106: determining the topological attribute of the two adjacent and coplanar lanes according to the coplanar relationship between the lanes.

[0034] The topological attribute is used to indicate whether the two lanes in the first lane group can be passed through, if the topological relationship between the two lanes is established; otherwise, if the two lanes cannot be passed through, the topological attribute indicates that the topological relationship is not established. Whether the two lanes can be passed through includes spatially passable and logically passable.

[0035] If the coplanar relationship between the two adjacent lanes is inclusion or coincidence, it can be determined that the two lanes are spatially passable, and if the driving state (e.g. not under construction, not closed, not prohibited) of the two lanes is indicated in the lane data and the lane effective attribute indicates that both lanes are effective lanes (e.g. non-shoulder, emergency lane, etc.), it can be determined that the two lanes are logically passable. When it is determined that the two lanes are spatially and logically passable, it is determined that the topological relationship between the two lanes can be established.

[0036] In this way, the accuracy of the established topological relationship is ensured, and the two lanes for which the topological relationship is established not only guarantee the spatial passability, but also guarantee the logical passability, i.e. in the actual navigation and driving process, it is ensured that the vehicle driven according to the topological relationship is not only spatially passable, but also does not violate the road traffic regulations.​

[0037] Through the embodiment, the first lane group is determined based on the road topology relationship and the lane data of the road, and the coplanar relationship between two lanes in the first lane group is determined according to the lane data, and then the topology attribute of the two lanes is determined, so as to realize the comprehensive road topology relationship and lane data, efficiently establish the topology relationship at the lane level, and further improve the production efficiency of the high-precision map.

[0038] Embodiment two

[0039] Referring to Figure 2A , a step flowchart of a data processing method of the embodiment two of the application is shown.

[0040] In the embodiment, the method comprises the following steps:

[0041] Step S202: determining a first lane group based on the road topology relationship and the lane data of the road, wherein the first lane group comprises at least two adjacent and coplanar lanes.

[0042] In a feasible manner, step S202 is implemented through the following sub-steps:

[0043] Sub-step S2021: determining two adjacent lanes and whether there is a separated lane or a merged lane in the lanes based on the road topology relationship and the lane data of the road.

[0044] For example, taking the road topology relationship shown in the foregoing Figure 1B as an example, it is determined according to the road topology relationship that road A and road B are connected.

[0045] According to the lane data, it is determined that lane A1 in road A and lane B1 in road B are adjacent, and neither the entrance nor the exit of lane A1 has two or more than two lane lines engaged, so lane A1 is not a separated lane or a merged lane. Neither the entrance nor the exit of lane B1 has two or more than two lane lines engaged, so lane B1 is not a separated lane or a merged lane.

[0046] Similarly, lane A2 in road A and lane B2 in road B are adjacent, and neither lane A2 nor lane B2 is a separated lane or a merged lane. Lane A2 in road A is also adjacent to lane B3 in road B, but lane A2 and lane B3 are connected by a point, so lane A2 is a separated lane.

[0047] Sub-step S2022: determining the two adjacent lanes without a separated lane or a merged lane as coplanar lanes, and dividing them into the first lane group.

[0048] The lane A1 and the lane B1 in the foregoing example can be divided into a first lane group. Similarly, the lane A2 and the lane B2 can be divided into a first lane group.

[0049] Step S204: determining the coplanar relationship between the two adjacent and coplanar lanes according to the lane data of the two lanes.

[0050] In an implementable manner, the step S204 includes the following sub-steps:

[0051] Sub-step S2041: determining the head cross section and the tail cross section of each lane of the two adjacent and coplanar lanes according to the lane data of the two lanes.

[0052] For the lane A1, the position of the head cross section and the tail cross section of the lane A1 are determined according to the lane line related data in the lane data, such as the positions of the lane lines on the transverse two sides of the lane A1. The head cross section and the tail cross section of the lane B1, the lane A2 and the lane B2 can be determined in a similar manner.

[0053] Sub-step S2042: determining the coplanar relationship of the two adjacent and coplanar lanes according to the head cross section and the tail cross section of each lane.

[0054] Taking the lane A1 and the lane B1 as an example, the coplanar relationship can be determined according to the position of the tail cross section of the lane A1 and the position of the head cross section of the lane B1.

[0055] For example, if the projections of the tail cross section of the lane A1 and the head cross section of the lane B1 in the lane advancing direction coincide, the coplanar relationship is coincidence. Or, if the projections of the tail cross section of the lane A1 and the head cross section of the lane B1 in the lane advancing direction are contained by one another, the coplanar relationship is containing. If the projections of the tail cross section of the lane A1 and the head cross section of the lane B1 in the lane advancing direction are partially overlapped, the coplanar relationship is mispositioned.

[0056] Step S206: determining the topological attribute of the two adjacent and coplanar lanes according to the coplanar relationship between the lanes.

[0057] In order to ensure that the determined topological attribute is accurate, and that the vehicle can normally travel and will not violate the traffic rules when subsequent navigation, driving and other operations are performed according to the topological relationship in the topological attribute, the topological relationship of allowing traffic is established for two lanes that can be spatially and logically passed through when the topological attribute is determined.

[0058] To this end, in an implementable manner, the step S206 can be implemented through the following sub-steps:

[0059] Sub-step S2061: According to the coplanar relationship between the lanes, it is determined whether the two front and rear adjacent and coplanar lanes are spatially passable.

[0060] For example, if the coplanar relationship is coincident or contains, it is directly determined that the two front and rear adjacent and coplanar lanes are spatially passable.

[0061] For another example, if the coplanar relationship is misaligned, according to the tail cross section of the front lane and the head cross section of the rear lane in the two front and rear adjacent and coplanar lanes, the occlusion passable width of the two front and rear adjacent and coplanar lanes is determined, so as to determine whether it is spatially passable according to the occlusion passable width.

[0062] Case 1: If the occlusion passable width is greater than or equal to the first passable width, it is determined that it is spatially passable. The first passable width can be determined as needed, for example, the maximum vehicle width, or the average vehicle width, or a set value (such as 2m or more).

[0063] Case 2: If the occlusion passable width is less than or equal to the second passable width, it is determined that it is not spatially passable, and the second passable width is less than the first passable width. Wherein, the second passable width can be determined as needed, for example, 0.5m. If the occlusion passable width does not meet the second passable width, it means that most vehicles cannot pass, that is, it is not spatially passable.

[0064] Case 3: If the occlusion passable width is between the first passable width and the second passable width, it is determined whether it is spatially passable according to the lateral associated lane and the associated lane line passing through the moving path from the front lane to the rear lane.

[0065] For the two lanes with occlusion passable width between them, a part of the vehicle may not be able to pass, in order to accurately judge whether it is spatially passable and avoid omission, the lateral associated lane can be found and it is determined whether it can pass from the lateral associated lane.

[0066] If the lane line type of the associated lane line indicates that it is allowed to pass, and the lateral associated lane is a spatially passable lane, it is determined that the two front and rear adjacent and coplanar lanes are spatially passable.

[0067] For example, as Figure 2BAs shown, lane C and lane D1 form a first lane group, and lane C and lane D2 form another first lane group. For lane C and lane D1, the bite passing width between lane C and lane D1 is greater than the second passing width and less than the first passing width when determining whether they are spatially passable. To ensure accurate determination of spatial passability, the moving path from lane C to lane D1 can be determined as: lane C→lane D2→lane D1. Lane D2 is a transversely associated lane, and the associated lane lines involved include the lane line between lane D1 and lane D2.

[0068] If the bite passing width between lane C and lane D2 is greater than the first passing width, it is determined that lane C and lane D2 are spatially passable. If, at the same time, the lane line between lane D1 and lane D2 is a crossable lane line, it is determined that lane C to lane D1 is spatially passable.

[0069] For two lanes that are not spatially passable, the processing can be abandoned, the topological properties are not determined (i.e., no topological relationship is established), or the topological properties are determined to be impassable. For two lanes that are spatially passable, sub-step S2062 can be performed.

[0070] Sub-step S2062: If it is determined that they are spatially passable, the topological properties of the two lanes are determined according to the lane data of the two adjacent and coplanar lanes.

[0071] For two lanes that are spatially passable, it can be further determined from the lane data whether the two lanes are logically passable, for example, sub-step S2062 can be implemented as:

[0072] If the driving state in the lane data indicates that the two adjacent and coplanar lanes are drivable, and the lane validity attribute in the lane data indicates that the two adjacent and coplanar lanes are valid lanes, the topological properties are determined to have a topological relationship between the two adjacent and coplanar lanes.

[0073] The driving state is used to indicate whether the lane is in a drivable state, for example, if the lane is under construction, it is not drivable. The validity attribute of the lane is used to indicate that the lane itself is a valid lane, such as a shoulder, a median, or a diversion strip; or is not in other special situations (such as emergency and high-speed main roads, or acceleration and deceleration lanes and high-speed main roads, etc.).

[0074] If the lane driving state indicates drivable and the lane is a valid lane, it is determined that the two lanes can normally pass, and therefore the topological properties indicate that there is a topological relationship between the two lanes. Otherwise, the topological properties of the two lanes indicate that no topological relationship is established.

[0075] Optionally, in order to realize the establishment of full-quantity topological relations, the method further comprises:

[0076] Step S208: determining a lane belonging to a separated lane or a merged lane as a second lane based on the road topological relations and the lane data.

[0077] The foregoing Figure 1B In the example shown, in the lane group formed by lane A2 and lane B3, lane A2 is a separated lane, and thus can constitute a second lane group.

[0078] Step S210: determining whether a target lane belonging to the first lane group and having a topological property of existing topological relations exists in a laterally associated lane adjacent to the second lane according to the lane data and the topological property of the first lane group.

[0079] Taking lane A2 and lane B3 as an example, the process of searching for the target lane is, for example, searching for a laterally associated lane adjacent to lane B3 according to the lane data. When searching in a certain direction, the stopping rule is at least one of the following:

[0080] Rule 1: encountering a lane line that cannot be crossed.

[0081] Rule 2: encountering a lane that cannot be driven.

[0082] Rule 3: encountering an adjacent lane belonging to the first lane group.

[0083] If a laterally associated lane belonging to the first lane group is searched out and the laterally associated lane has a topological relation, the laterally associated lane is determined as the target lane. In this example, if the lane line between lane B2 and lane B3 is drivable, lane B2 is searched out as the target lane.

[0084] Step S212: if the target lane exists, determining the topological property of the second lane according to the lane data and the topological relation of the target lane.

[0085] The topological relation of the target lane indicates that the target lane is connected with a preceding lane or a following lane. For example, the target lane is lane B2, and the topological relation of lane B2 indicates that lane A2 is connected with lane B2 (i.e., the preceding lane thereof).

[0086] The step S212 can be implemented as follows: if the lane line type of the lane line between the second lane and the target lane determined according to the lane data indicates that the lane line is drivable, establishing a topological relation between the preceding lane or the following lane corresponding to the second lane and the target lane, and determining the topological property of the second lane according to the topological relation of the second lane.

[0087] The lane line type can be a solid line, a dashed line, a double solid line, and the like. Based on this, it can be determined whether the lanes can pass through each other. For example, in this example, if it is determined that lanes B2 and B3 can pass through each other, a topological relationship of lane A2→lane B2→lane B3 can be established, and it is determined that the topological attribute of the second lane group indicates that the topological relationship exists.

[0088] In this way, full topological relationships can be established for the lanes, so that the topological relationships are more comprehensive, which helps to have better matching and more accurate navigation results during subsequent navigation. In addition, for the established topological relationships, the optimal topological relationship can be further determined therefrom, and the optimal topological relationship can be marked in the form of marking.

[0089] When establishing the topological relationship, the actual lane connection relationship and the traffic regulations can be referred to for establishing the lane topological relationship. Compared with the conventional optimal topological manner, the full topological relationship can form more topological relationships for subsequent navigation. Moreover, the optimal topological relationship can be indicated by the data marking manner.

[0090] It should be noted that the optimal topological relationship can be determined manually or by using other appropriate rules, and the present embodiment does not limit this. In addition, the adjacent searching stop rule and the like can be based on a logical judgment rule to establish a credibility mechanism, so as to perform iterative optimization.

[0091] According to the present embodiment, the first lane group is determined based on the road topological relationship of the road and the lane data, and the coplanar relationship between two lanes in the first lane group is determined according to the lane data, and then the topological attribute of the two lanes is determined, so as to comprehensively determine the road topological relationship and the lane data, efficiently establish the lane-level topological relationship, and improve the production efficiency of the high-definition map.

[0092] Embodiment Three

[0093] Figure 3 A structural block diagram of a data processing apparatus according to Embodiment Three of the present application is shown in the figure, which includes:

[0094] The first determination module 302 is configured to determine a first lane group based on a road topological relationship of a road and lane data, wherein the first lane group includes at least two lanes that are adjacent and coplanar in front and back.

[0095] The second determination module 304 is configured to determine a coplanar relationship between the lanes according to lane data of the two lanes that are adjacent and coplanar in front and back.

[0096] The third determination module 306 is configured to determine a topological attribute of the two lanes that are adjacent and coplanar in front and back according to the coplanar relationship between the lanes.

[0097] Optionally, the first determining module 302 is configured to determine, based on the road topology relationship and the lane data of the road, two adjacent front and rear lanes and whether there is a split lane or a merge lane in the lanes; and determine the two adjacent front and rear lanes without the split lane or the merge lane as coplanar lanes and divide the two lanes into the first lane group.

[0098] Optionally, the second determining module 304 is configured to determine, according to the lane data of the two adjacent front and rear coplanar lanes, a head cross section and a tail cross section of each lane in the two adjacent front and rear coplanar lanes respectively; and determine a coplanar relationship of the two adjacent front and rear coplanar lanes according to the head cross section and the tail cross section of each lane.

[0099] Optionally, the third determining module 306 is configured to determine, according to the coplanar relationship between the lanes, whether the two adjacent front and rear coplanar lanes are spatially passable; and if it is determined that the two adjacent front and rear coplanar lanes are spatially passable, determine a topology attribute of the lanes according to the lane data of the two adjacent front and rear coplanar lanes.

[0100] Optionally, if the coplanar relationship is coincidence or inclusion, the third determining module 306 determines that the two adjacent front and rear coplanar lanes are spatially passable when determining, according to the coplanar relationship between the lanes, whether the two adjacent front and rear coplanar lanes are spatially passable.

[0101] Optionally, if the coplanar relationship is mispositioning, the third determining module 306 is configured to determine, according to the coplanar relationship between the lanes, whether the two adjacent front and rear coplanar lanes are spatially passable, determine a bite passable width of the two adjacent front and rear coplanar lanes according to a tail cross section of a front lane and a head cross section of a rear lane in the two adjacent front and rear coplanar lanes, determine that the two adjacent front and rear coplanar lanes are spatially passable if the bite passable width is greater than or equal to a first passable width, or determine that the two adjacent front and rear coplanar lanes are not spatially passable if the bite passable width is less than or equal to a second passable width, the second passable width being less than the first passable width, or determine whether the two adjacent front and rear coplanar lanes are spatially passable according to a transverse associated lane and an associated lane line on a moving path from the front lane to the rear lane if the bite passable width is between the first passable width and the second passable width.

[0102] Optionally, the third determining module 306 is configured to determine, according to the transverse associated lane and the associated lane line on the moving path from the front lane to the rear lane, whether the two adjacent front and rear coplanar lanes are spatially passable, and determine that the two adjacent front and rear coplanar lanes are spatially passable if a lane line type of the associated lane line indicates that the lane line type allows passing and the transverse associated lane is a spatially passable lane.

[0103] Optionally, the third determining module 306 is configured to, when determining the topology attribute of the lane according to the lane data of the two adjacent and coplanar lanes, if the driving state in the lane data indicates that the two adjacent and coplanar lanes are drivable, and the lane validity attribute in the lane data indicates that the two adjacent and coplanar lanes are valid lanes, determining the topology attribute as that the two adjacent and coplanar lanes have a topology relationship.

[0104] Optionally, the apparatus further comprises:

[0105] The fourth determining module 308 is configured to determine a lane belonging to a split lane or a merge lane as a second lane based on the road topology relationship and the lane data.

[0106] The fifth determining module 310 is configured to determine whether a target lane belonging to the first lane group and having a topology attribute of existing topology relationship exists in a transversely associated lane adjacent to the second lane according to the lane data and the topology attribute of the first lane group.

[0107] The sixth determining module 312 is configured to, if the target lane exists, determine the topology attribute of the second lane according to the lane data and the topology relationship of the target lane.

[0108] Optionally, the topology relationship of the target lane indicates that the target lane is connected with a front lane or a rear lane, and the sixth determining module 312 is configured to, if the lane line type of the lane line between the second lane and the target lane according to the lane data indicates that passing is allowed, establish a topology relationship between the second lane and the corresponding front lane or rear lane of the target lane, and determine the topology attribute of the second lane according to the topology relationship of the second lane.

[0109] The data processing apparatus of the embodiment is used to implement the corresponding data processing method in the foregoing method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described herein. In addition, the functions of each module in the data processing apparatus of the embodiment can be implemented by referring to the description of the corresponding part in the foregoing method embodiments, which will not be described herein.

[0110] Embodiment Four

[0111] With reference to Figure 4 , a structural schematic diagram of an electronic device according to Embodiment Four of the present application is shown, and the specific implementation of the electronic device is not limited in the embodiments of the present application.

[0112] As Figure 4As shown, the electronic device can include a processor 402, a communications interface 404, a memory 406, and a communications bus 408.

[0113] Wherein:

[0114] The processor 402, the communications interface 404, and the memory 406 complete communications with each other through the communications bus 408.

[0115] The communications interface 404 is configured to communicate with other electronic devices or servers.

[0116] The processor 402 is configured to execute the program 410, and specifically can execute the related steps in the above-described data processing method embodiments.

[0117] Specifically, the program 410 can include program code, which includes computer operation instructions.

[0118] The processor 42 can be a central processing unit CPU, or an application specific integrated circuit ASIC, or one or more integrated circuits configured to implement one or more embodiments of the present application. The one or more processors included in the smart device can be the same type of processor, such as one or more CPUs; or can be different types of processors, such as one or more CPUs and one or more ASICs.

[0119] The memory 406 is configured to store the program 410. The memory 406 can include a high-speed RAM memory, and can also include a non-volatile memory, such as at least one disk memory.

[0120] The program 410 can specifically be used to cause the processor 402 to perform operations corresponding to the foregoing method.

[0121] The specific implementation of each step in the program 410 can refer to the corresponding description in the corresponding steps and units in the above-described data processing method embodiments, and will not be described here. Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device and the module described above can refer to the corresponding process description in the foregoing method embodiments, and will not be described here.

[0122] It should be noted that, according to the needs of implementation, each component / step described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or part of the operations of the components / steps can be combined into a new component / step, to achieve the purpose of the embodiments of the present application.

[0123] The methods according to embodiments of the present application described above can be implemented in hardware, firmware, or software, or a combination of hardware, firmware or software, and can be stored in a recording medium such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk, or be downloaded by a network from a remote recording medium or non-transitory machine-readable medium originally stored in a local recording medium and stored in a local recording medium, so that the methods described herein can be processed by such software stored on a recording medium using a general purpose computer, a special purpose processor, or programmable or dedicated hardware such as an ASIC or FPGA. It can be understood that the computer, processor, microprocessor controller, or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the data processing methods described herein. Furthermore, when a general purpose computer accesses code for implementing the data processing methods shown herein, the execution of the code transforms the general purpose computer into a special purpose computer for executing the data processing methods shown herein.

[0124] Those skilled in the art can appreciate that the units and method steps of the examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of the present application.

[0125] The above embodiments are only used to illustrate but not limit the embodiments of the present application, and a person of ordinary skill in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application, therefore all equivalent technical solutions belong to the scope of the embodiments of the present application, and the patent protection scope of the embodiments of the present application should be defined by the claims.

Claims

1. A data processing method, comprising: Based on the road topology and lane data, a first lane group is determined, wherein the first lane group includes at least two adjacent and coplanar lanes, and the coplanarity of the two lanes in the first lane group means that the cross-sections of the two lanes have interlocking portions. Based on the lane data of the two adjacent and coplanar lanes, the coplanar relationship between the lanes is determined, wherein the coplanar relationship includes overlap, inclusion, and misalignment; Based on the coplanar relationship between lanes, determine the topological attributes of the two adjacent and coplanar lanes.

2. The method of claim 1, wherein, The road topology and lane data based on the road are used to determine the first lane group, including: Based on the road topology and lane data, determine two adjacent lanes and whether there are separate or merged lanes within the lanes; The two adjacent lanes that do not have separate lanes or merged lanes are identified as coplanar lanes and assigned to the first lane group.

3. The method of claim 1, wherein, Determining the coplanar relationship between lanes based on the lane data of the two adjacent and coplanar lanes includes: Based on the lane data of the two adjacent and coplanar lanes, determine the first and last cross-sections of each lane in the two adjacent and coplanar lanes. Based on the first and last cross-sections of each lane, the coplanar relationship of the two adjacent and coplanar lanes is determined.

4. The method of claim 3, wherein, Based on the coplanar relationship between lanes, the topological attributes of the two adjacent and coplanar lanes are determined, including: Based on the coplanar relationship between the lanes, determine whether the two adjacent and coplanar lanes are spatially passable; If it is determined that the space is passable, then the topological attributes of the lanes are determined based on the lane data of the two adjacent and coplanar lanes.

5. The method of claim 4, wherein, If the coplanar relationship is coincident or inclusive, then determining whether the two adjacent and coplanar lanes are spatially passable based on the coplanar relationship between the lanes includes: It is determined that the two adjacent lanes that are coplanar are spatially passable.

6. The method of claim 4, wherein, If the coplanar relationship is misaligned, then determining whether the two adjacent and coplanar lanes are spatially passable based on the coplanar relationship between the lanes includes: The interlocking width of the two adjacent and coplanar lanes is determined based on the tail cross-section of the front lane and the head cross-section of the rear lane. If the bite passage width is greater than or equal to the first passage width, then it is determined that it is passable in space; or, If the bite passage width is less than or equal to the second passage width, then it is determined that passage is not possible in space, and the second passage width is less than the first passage width; Alternatively, if the bite width is between the first width and the second width, spatial passability is determined based on the lateral associated lanes and associated lane lines traversed on the movement path from the front lane to the rear lane.

7. The method of claim 6, wherein, The step of determining whether spatial passage is possible based on the lateral associated lanes and associated lane lines traversed along the movement path from the front lane to the rear lane includes: If the lane line type of the associated lane line indicates that passing is allowed, and the transverse associated lane is a passable lane, it is determined that the two adjacent and coplanar lanes are passable in space.

8. The method of claim 4, wherein, The method further comprises: If the driving state in the lane data indicates that the two adjacent and coplanar lanes are drivable, and the lane validity attribute in the lane data indicates that the two adjacent and coplanar lanes are valid lanes, the topology attribute is determined as the two adjacent and coplanar lanes have a topology relationship.

9. The method of claim 1, wherein, The method further comprises: Based on the road topology relationship and the lane data, a lane belonging to a separated lane or a merged lane is determined as a second lane; According to the lane data and the topology attribute of the first lane group determined, it is determined whether a target lane belonging to the first lane group and having a topology attribute of existing topology relationship exists in the transverse associated lane adjacent to the second lane; If the target lane exists, the topology attribute of the second lane is determined according to the lane data and the topology relationship of the target lane.

10. The method of claim 9, wherein, The topology relationship of the target lane indicates that the target lane is connected with a front lane or a rear lane, and the determination of the topology attribute of the second lane according to the lane data and the topology relationship of the target lane comprises: If the lane line type of the lane line between the second lane and the target lane is determined according to the lane data, the topology relationship between the second lane and the corresponding front lane or rear lane of the target lane is established, and the topology attribute of the second lane is determined according to the topology relationship of the second lane.

11. A data processing apparatus, comprising: a first determination module configured to determine a first lane group based on a road topology relationship and lane data of a road, wherein the first lane group comprises at least two adjacent and coplanar lanes, and wherein the two lanes in the first lane group are coplanar in that a cross section of the two lanes has an engagement portion; a second determination module configured to determine a coplanar relationship between the two adjacent and coplanar lanes according to lane data of the two lanes, wherein the coplanar relationship comprises coincidence, inclusion and misalignment; a third determination module configured to determine a topology attribute of the two adjacent and coplanar lanes according to the coplanar relationship between the lanes.

12. A computer storage medium having a computer program stored thereon, the program being executed by a processor to implement the data processing method according to any one of claims 1-10.

Images